Robotics and Autonomous Systems
Haptic object exploration using attention cubes
KI'10 Proceedings of the 33rd annual German conference on Advances in artificial intelligence
Novel approaches for bio-inspired mechano-sensors
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II
Design of a flexible tactile sensor for classification of rigid and deformable objects
Robotics and Autonomous Systems
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In this paper, a tactile sensing system for an anthropomorphic robot hand is presented. The tactile sensing system is designed as a construction kit making it very versatile. The sensor data preprocessing is embedded into the hand's hardware structure and is fully integrated. The sensor system is able to gather tactile pressure profiles and to measure vibrations in the sensor's cover. Additionally to the introduction of the hardware, the signal processing and the classification of the acquired sensor data will be explained in detail. These algorithms make the tactile sensing system capable to detect contact points, to classify contact patterns and to detect slip conditions during object manipulation and grasping.