Force Sensing with a Biomimetic Fingertip

被引：3

作者：

Giannaccini, Maria Elena ^{[1
,2
]}

Whyle, Stuart ^{[1
,2
]}

Lepora, Nathan F. ^{[1
,2
]}

机构：

[1] Univ Bristol, Dept Engn Math, Bristol, Avon, England

[2] Univ Bristol, Bristol Robot Lab, Bristol, Avon, England

来源：

BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2016 | 2016年 / 9793卷

关键词：

Tactile sensing; Bioinspiration; Force sensing;

D O I：

10.1007/978-3-319-42417-0_43

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

Advanced tactile capabilities could help new generations of robots work co-operatively with people in a wider sphere than these devices have hitherto experienced. Robots could perform autonomous manipulation tasks and exploration of their environment. These applications require a thorough characterisation of the force measurement capabilities of tactile sensors. For this reason, this work focuses on the characterisation of the force envelope of the biomimetic, low-cost and robust TacTip sensor. Comparison with a traditional load cell shows that when identifying low forces and changes in position the TacTip proves significantly less noisy.

引用

页码：436 / 440

页数：5

共 8 条

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[4] Lepora L., 2016, IEEE T HAPTICS
[5] Lepora N., 2016, ROBOT AUTOM LETT
[6] Lepora NF, 2015, IEEE INT C INT ROBOT, P2686, DOI 10.1109/IROS.2015.7353744
[7] Tactile Superresolution and Biomimetic Hyperacuity
Lepora, Nathan F.
Martinez-Hernandez, Uriel
Evans, Mathew
Natale, Lorenzo
Metta, Giorgio
Prescott, Tony J.
[J]. IEEE TRANSACTIONS ON ROBOTICS, 2015, 31 (03) : 605 - 618
[8] Winstone Benjamin, 2013, Biomimetic and Biohybrid Systems. Second International Conference, Living Machines 2013. Proceedings. LNCS 8064, P323, DOI 10.1007/978-3-642-39802-5_28

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