Tactile sensor and algorithm to detect slip in robot grasping processes

  • Authors:

  • Dirk Goeger;Nico Ecker;Heinz Woern

  • Affiliations:

  • Institute of Process control and Robotics, University of Karlsruhe, Engler Bunte Ring 8, 76131, Germany;Institute of Process control and Robotics, University of Karlsruhe, Engler Bunte Ring 8, 76131, Germany;Institute of Process control and Robotics, University of Karlsruhe, Engler Bunte Ring 8, 76131, Germany

  • Venue:
  • ROBIO '09 Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics
  • Year:
  • 2009

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Abstract

In this paper we introduce a tactile slip sensor for an anthropomorphic robot hand, the measurement circuit and the corresponding algorithm to determine slip states. The main slip sensor components consist of a silicone rubber surface which covers a PVDF sensor. After the amplification of the signal it is processed by a discrete short-time Fourier transform. The resulting spectrogram is processed by a principal component analysis to determine the main signal components. For a classification of three states (‘slip’, ‘signal but no slip’ and ‘noise’) a k-nearest neighbour classifier has been trained with the main signal components and serves for discrimination of slip states on the sensor's surface. The build-up of the sensor and the experimental setup will be briefly explained, the signal processing and the results will be discussed in detail.