Calibration of tactile/force sensors for grasping with the PRISMA Hand II (original) (raw)
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Tactile sensing in dexterous robot hands — Review
Robotics and Autonomous Systems, 2015
Tactile sensing is an essential element of autonomous dexterous robot hand manipulation. It provides information about forces of interaction and surface properties at points of contact between the robot fingers and the objects. Recent advancements in robot tactile sensing led to development of many computational techniques that exploit this important sensory channel. This paper reviews current state-of-the-art of manipulation and grasping applications that involve artificial sense of touch and discusses pros and cons of each technique. The main issues of artificial tactile sensing are addressed. General requirements of a tactile sensor are briefly discussed and the main transduction technologies are analyzed. Twenty eight various tactile sensors, each integrated into a robot hand, are classified in accordance with their transduction types and applications. Previously issued reviews are focused on hardware part of tactile sensors, whereas we present an overview of algorithms and tactile feedback-based control systems that exploit signals from the sensors. The applications of these algorithms include grasp stability estimation, tactile object recognition, tactile servoing and force control. Drawing from advancements in tactile sensing technology and taking into consideration its drawbacks, this paper outlines possible new directions of research in dexterous manipulation.
Robotic Hand with Force Sensors
International Journal of Engineering Research and, 2019
The focus of this work was the realization of a prototype of a robotic hand, with the ability to mimic the movements of the human hand, and determine the force exerted by manipulating different electronic elements. To carry out the process of elaboration, it developed in the SOLIDWORKS program the design of each part of hand (fingers, wrist and palm), taking into account the movements it can make, later with the help of a 3D printer and the CURA program, each designed part in SOLIDWORKS was printed to be assembled and the prototype of a human hand was obtained. To achieve the operation of this prototype, ARDUINO programming software was used, that allowed to control the movement of the prototype by interacting with the human hand through the use of a glove with the implementation of flexo sensors on each of his fingers in such a way that the prototype could mimic the different movements that the human hand exerts, with the use of this glove. Force sensors were subsequently implemented on each of the fingers of the prototype, so that they could determine the force exerted on each of these when manipulating different objects. Finally, the prototype of the robotic hand was physically obtained, with the ability to manipulate objects and determine the force exerted on each of your fingers.
An embedded tactile and force sensor for robotic manipulation and grasping
5th IEEE-RAS International Conference on Humanoid Robots, 2005., 2005
A new fully embedded tactile/force sensor system is presented. The sensor has been designed to be installed on a dextrous robot gripper (MAC-HAND). The tactile sensor consists of a matrix of 64 electrodes, etched on a flexible PCB covered by a conductive rubber layer. The force sensor is an off-theshelf integrated three components micro-joystick. The analog and digital electronics is fully embedded with the sensor that is a selfstanding module mounted on each finger phalange.
Tactile sensors for robotic applications
Measurement, 2013
This paper presents the design and calibration of a new force/tactile sensor for robotic applications. The sensor is suitably designed to provide the robotic grasping device with a sensory system mimicking the human sense of touch, namely, a device sensitive to contact forces, object slip and object geometry. This type of perception information is of paramount importance not only in dexterous manipulation but even in simple grasping tasks, especially when objects are fragile, such that only a minimum amount of grasping force can be applied to hold the object without damaging it. Moreover, sensing only forces and not moments can be very limiting to securely grasp an object when it is grasped far from its center of gravity. Therefore, the perception of torsional moments is a key requirement of the designed sensor. Furthermore, the sensor is also the mechanical interface between the gripper and the manipulated object, therefore its design should consider also the requirements for a correct holding of the object. The most relevant of such requirements is the necessity to hold a torsional moment, therefore a soft distributed contact is necessary. The presence of a soft contact poses a number of challenges in the calibration of the sensor, and that is another contribution of this work. Experimental validation is provided in real grasping tasks with two sensors mounted on an industrial gripper.
2006
Recent research in prosthetic hands aims at developing innovative cybernetic systems able to allow users to feel an artificial hand as part of their bodies by providing the tactile sensation of a natural hand. Such prostheses must be endowed with artificial proprioceptive and exteroceptive sensory systems as well as appropriate neural interfaces able to exchange sensorymotor signals between the body and the nervous system of an amputee. Based on consideration of available neurophysiological and behavioral data in humans and on the specific sensory needs to control a prototypical grasp-and-lift task, two kinds of sensors were developed: on-off contact sensor arrays and triaxial force sensors. Both sensor types were characterized and compared with their biological counterparts. Their ability to convey critical information during a lift task was evaluated with the sensors integrated in a biomechatronic cybernetic hand.
2006
Recent research in prosthetic hands aims at developing innovative cybernetic systems able to allow users to feel an artificial hand as part of their bodies by providing the tactile sensation of a natural hand. Such prostheses must be endowed with artificial proprioceptive and exteroceptive sensory systems as well as appropriate neural interfaces able to exchange sensorymotor signals between the body and the nervous system of an amputee. Based on consideration of available neurophysiological and behavioral data in humans and on the specific sensory needs to control a prototypical grasp-and-lift task, two kinds of sensors were developed: on-off contact sensor arrays and triaxial force sensors. Both sensor types were characterized and compared with their biological counterparts. Their ability to convey critical information during a lift task was evaluated with the sensors integrated in a biomechatronic cybernetic hand.
The design and control of a robot finger for tactile sensing
1988
This article describes the design and control of a lightweight robot finger intended for tactile sensing research. The finger is a three-link planar chain with the joints actuated through cables by two motors. Kinematic coupling of the three joints provides two degrees of freedom for finger tip manipulation, and a curling action of the finger for enclosing an object. Hall effect sensors in each joint provide position feedback, and strain gage sensors on each cable provide tension information. T o minimize weight and power consumption, a high speed low torque motor together with a 172:l speed reducer is used as the actuator. A force control loop around the motor speed reducer system reduces the effect of the friction inherent in the speed reducer. Flat mounting plates are provided on each link for special purpose grasping surfaces and sensors.
Active calibration of tactile sensors mounted on a robotic hand
2015
HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés. Active calibration of tactile sensors mounted on a robotic hand Benjamin Navarro, Prajval Kumar, Aicha Fonte, Philippe Fraisse, Gérard Poisson, Andrea Cherubini