single-rb.php

JRM Vol.8 No.6 pp. 531-537
doi: 10.20965/jrm.1996.p0531
(1996)

Paper:

Tactile Based Active Sensing for Detecting Stiffness and Contact Point Using Robotic Finger

Tatsuya Shirai*, Nobuaki Imamura**, Toshio Fukuda***
and Makoto Kaneko****

*Sony Co., Ltd., 6-7-35 Kitashinagawa, Shinagawa-ku, Tokyo, 141, Japan

**Shinko Research Co., Ltd, 1-5-5, Takatsukadai, Nishi-ku, Kobe, 651-22, Japan

***Department of Microsystem Engineering, Nagoya University, Furo-cho 1, Chikusa-ku, Nagoya, 464-01, Japan

****Faculty of Engineering, Hiroshima University, Kagamiyama, 1-4-1 Higashihiroshima, Hiroshima, 724, Japan

Received:
October 4, 1996
Accepted:
November 1, 1996
Published:
December 20, 1996
Keywords:
Tactile sensing, Active sensing, Environment stiffness, Robotic finger, Stiffness ellipsoid
Abstract

This paper discusses an approach for detecting not only a contact point between an environment and a robotic finger, but also the local stiffness of the environment where the finger makes contact. We assume that the environment’s stiffness is three-dimensional with coupling terms, whereas most conventional studies have assumed a one-dimensional spring as an environment model for simplification. When a finger confirms that there exists considerable compliance, the finger tip is pressed against the environment and starts several active pushing motions in various directions to eventually obtaining the measured stiffness matrix. The overall concept is also verified by experiments utilizing a wire-driven robotic finger.

Cite this article as:
Tatsuya Shirai, Nobuaki Imamura, and Toshio Fukuda
and Makoto Kaneko, “Tactile Based Active Sensing for Detecting Stiffness and Contact Point Using Robotic Finger,” J. Robot. Mechatron., Vol.8, No.6, pp. 531-537, 1996.
Data files:

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Sep. 21, 2021