scholarly journals Contact State Estimation by Vision-Based Tactile Sensors for Dexterous Manipulation with Robot Hands Based on Shape-Sensing

10.5772/50899 ◽  
2011 ◽  
Vol 8 (4) ◽  
pp. 54 ◽  
Author(s):  
Yuji Ito ◽  
Youngwoo Kim ◽  
Chikara Nagai ◽  
Goro Obinata
Keyword(s):  
State Estimation ◽  
Tactile Sensors ◽  
Dexterous Manipulation ◽  
Contact State ◽  
Robot Hands ◽  
Shape Sensing ◽  
Contact State Estimation

Contact state estimation based on surface-matching in virtual assembly

2012 ◽  
Vol 25 (1) ◽  
pp. 1-11 ◽  
Author(s):  
Weiwei Hou ◽  
Jianhua Liu ◽  
Ruxin Ning ◽  
Jiancheng Shi
Keyword(s):  
State Estimation ◽  
Virtual Assembly ◽  
Surface Matching ◽  
Contact State ◽  
Contact State Estimation

Soft magnetic skin for super-resolution tactile sensing with force self-decoupling

2021 ◽  
Vol 6 (51) ◽  
pp. eabc8801
Author(s):  
Youcan Yan ◽  
Zhe Hu ◽  
Zhengbao Yang ◽  
Wenzhen Yuan ◽  
Chaoyang Song ◽  
...  
Keyword(s):  
External Disturbance ◽  
Super Resolution ◽  
Tactile Sensor ◽  
Human Robot Interaction ◽  
Tactile Sensors ◽  
Dexterous Manipulation ◽  
Robot Interaction ◽  
Flexible Film ◽  
Challenging Tasks ◽  
External Forces

Human skin can sense subtle changes of both normal and shear forces (i.e., self-decoupled) and perceive stimuli with finer resolution than the average spacing between mechanoreceptors (i.e., super-resolved). By contrast, existing tactile sensors for robotic applications are inferior, lacking accurate force decoupling and proper spatial resolution at the same time. Here, we present a soft tactile sensor with self-decoupling and super-resolution abilities by designing a sinusoidally magnetized flexible film (with the thickness ~0.5 millimeters), whose deformation can be detected by a Hall sensor according to the change of magnetic flux densities under external forces. The sensor can accurately measure the normal force and the shear force (demonstrated in one dimension) with a single unit and achieve a 60-fold super-resolved accuracy enhanced by deep learning. By mounting our sensor at the fingertip of a robotic gripper, we show that robots can accomplish challenging tasks such as stably grasping fragile objects under external disturbance and threading a needle via teleoperation. This research provides new insight into tactile sensor design and could be beneficial to various applications in robotics field, such as adaptive grasping, dexterous manipulation, and human-robot interaction.

Humanoid Robot Hand and its Applied Research

2019 ◽  
Vol 31 (1) ◽  
pp. 16-26 ◽  
Author(s):  
Haruhisa Kawasaki ◽  
◽  
Tetsuya Mouri
Keyword(s):  
Research And Development ◽  
Humanoid Robot ◽  
Applied Research ◽  
Haptic Interfaces ◽  
Robot Hand ◽  
Hand Rehabilitation ◽  
Dexterous Manipulation ◽  
Prosthetic Hands ◽  
Application Systems ◽  
Robot Hands

Humanoid robot hands are expected to replace human hands in the dexterous manipulation of objects. This paper presents a review of humanoid robot hand research and development. Humanoid hands are also applied to multifingered haptic interfaces, hand rehabilitation support systems, sEMG prosthetic hands, telepalpation systems, etc. The developed application systems in our group are briefly introduced.

Sign in / Sign up

Export Citation Format

Share Document