Manipulation of an object using slip sensing tactile sensor

被引：0

作者：

Sasaki, K ^{[1
]}

Fujikake, Y ^{[1
]}

Takahashi, H ^{[1
]}

Cutkosky, MR ^{[1
]}

机构：

[1] Univ Tokyo, Sch Engn, Dept Precis Engn, Bunkyo Ku, Tokyo 1138656, Japan

来源：

PROCEEDINGS OF THE ICMA'98 - ADVANCED MECHATRONICS: FIRST-TIME-RIGHT, VOLS 1 AND 2 | 1998年

关键词：

tactile sensor; slip sensing; robot hand;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Signal processing for slip sensing for robotic tactile sensor is presented. The tactile sensor uses small strips of piezoelectric film (PVDF) embedded in silicon rubber. The film detects vibration caused by slip and contact. The vibration caused by slip had frequency spectrum approximately from 100Hz to 4000Hz with no apparent peak frequency. The waveform was jagged and random. Slip was detected by counting the number of peaks within an interval of 6.4 ms which proved to be better than frequency domain filtering. This process could differentiate the jagged waveform of the slip vibration from other signals such as impulsive vibration caused by onset of a contact. Experimental results on slip detection and its application on two-fingered robot hand are presented.

引用

页码：287 / 296

页数：10