High-Speed Tactile Sensing for Array-Type Tactile Sensor and Object Manipulation Based on Tactile Information

الملخص EN

We have developed a universal robot hand with tactile and other sensors.

An array-type tactile sensor is crucial for dexterous manipulation of objects using a robotic hand, since this sensor can measure the pressure distribution on finger pads.

The sensor has a very high resolution, and the shape of a grasped object can be classified by using this sensor.

The more the number of measurement points provided, the higher the accuracy of the classification, but with a corresponding lengthening of the measurement cycle.

In this paper, the problem of slow response time is resolved by using software for an array-type tactile sensor with high resolution that emulates the human sensor system.

The validity of the proposed method is demonstrated through experiments.