International Journal of Robotics Research
Three-dimensional alpha shapes
ACM Transactions on Graphics (TOG)
Fast Object and Pose Recognition Through Minimum Entropy Coding
ICPR '04 Proceedings of the Pattern Recognition, 17th International Conference on (ICPR'04) Volume 3 - Volume 03
Sensate Media — Multimodal Electronic Skins as Dense Sensor Networks
BT Technology Journal
Integrated circuitry to detect slippage inspired by human skin and artificial retinas
IEEE Transactions on Circuits and Systems Part I: Regular Papers - Special section on 2008 custom integrated circuits conference (CICC 2008)
Tactile sensing for an anthropomorphic robotic hand: hardware and signal processing
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Tactile sensing: from humans to humanoids
IEEE Transactions on Robotics
A survey of Tactile Human-Robot Interactions
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
Review: PM based multi-component F/T sensors-State of the art and trends
Robotics and Computer-Integrated Manufacturing
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We present a novel tactile sensor, which is applied for dextrous grasping with a simple robot gripper. The hardware novelty consists of an array of capacitive sensors, which couple to the object by means of little brushes of fibers. These sensor elements are very sensitive (with a threshold of about 5 mN) but robust enough not to be damaged during grasping. They yield two types of dynamical tactile information corresponding roughly to two types of tactile sensor in the human skin. The complete sensor consists of a foil-based static force sensor, which yields the total force and the center of the two-dimensional force distribution and is surrounded by an array of the dynamical sensor elements. One such sensor has been mounted on each of the two gripper jaws of our humanoid robot and equipped with the necessary read-out electronics and a CAN bus interface. We describe applications to guiding a robot arm on a desired trajectory with negligible force, reflective grip improvement, and tactile exploration of objects to create a shape representation and find stable grips, which are applied autonomously on the basis of visual recognition.