A Decision Method for Placement of Tactile Elements on a Sensor Glove for the Recognition of Grasp Types

被引：13

作者：

Murakami, Kouji ^{[1
]}

Matsuo, Kazuya ^{[1
]}

Hasegawa, Tsutomu ^{[1
]}

Kurazume, Ryo ^{[1
]}

机构：

[1] Kyushu Univ, Grad Sch Informat Sci & Elect Engn, Fukuoka 8190395, Japan

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2010年 / 15卷 / 01期

关键词：

Grasp-type recognition; human tactile receptor; tactile sensor; ROBOT HAND; DESIGN; MANIPULATION;

D O I：

10.1109/TMECH.2009.2023647

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We describe a decision method for effective placement of tactile elements for grasp-type recognition. Not only does the placement decided by our method require a small number of tactile elements, it also achieves recognition performance as high as placements consisting of many elements. The placement decided by the method is evaluated through experiments involving the recognition of grasp type from the two types of grasp taxonomy defined by Cutkosky and Kamakura. The proposed method is extended by applying a decision tree pruning. The pruning is useful for reducing the number of selected tactile elements without badly dropping the recognition rate.

引用

页码：157 / 162

页数：6

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