TY - GEN
T1 - High sensitivity initial slip sensor for dexterous grasp
AU - Teshigawara, Seiichi
AU - Tadakuma, Kenjiro
AU - Ming, Aiguo
AU - Ishikawa, Masatoshi
AU - Shimojo, Makoto
PY - 2010
Y1 - 2010
N2 - Slip-detecting tactile sensors are essential for achieving human-like gripping motion with a robot hand. In previous research, we developed a flexible, thin and lightweight slip sensor that exploits the characteristics of pressure conductive rubber. However, using this sensor, it was difficult to distinguish between object slip and a change in the normal force. Therefore, in the present research, we investigated a method for identifying object slip by analyzing the frequency components of the output signal from the sensor. As a result, we found that high-frequency components of 1 kHz or more are included in the complex voltage signal generated by object slip. Therefore, by using this high-frequency component, we developed a simple sensor that distinguished between both contact and initial slip with high sensitivity.
AB - Slip-detecting tactile sensors are essential for achieving human-like gripping motion with a robot hand. In previous research, we developed a flexible, thin and lightweight slip sensor that exploits the characteristics of pressure conductive rubber. However, using this sensor, it was difficult to distinguish between object slip and a change in the normal force. Therefore, in the present research, we investigated a method for identifying object slip by analyzing the frequency components of the output signal from the sensor. As a result, we found that high-frequency components of 1 kHz or more are included in the complex voltage signal generated by object slip. Therefore, by using this high-frequency component, we developed a simple sensor that distinguished between both contact and initial slip with high sensitivity.
UR - http://www.scopus.com/inward/record.url?scp=77955834743&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77955834743&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509288
DO - 10.1109/ROBOT.2010.5509288
M3 - Conference contribution
AN - SCOPUS:77955834743
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4867
EP - 4872
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -