NDLI: A robotic finger equipped with an optical three-axis tactile sensor

Content Provider	IEEE Xplore Digital Library
Author	Ohka, M. Morisawa, N. Suzuki, H. Takata, J. Koboyashi, H. Yussof, H.B.
Copyright Year	2008
Description	Author affiliation: Grad. Sch. of Inf. Sci., Nagoya Univ., Nagoya (Ohka, M.; Suzuki, H.; Takata, J.; Koboyashi, H.; Yussof, H.B.)
Abstract	In a previous paper we developed an optical three-axis tactile sensor that can acquire normal and shearing forces to be mounted on a robotic finger. Normal and shearing forces applied to the sensing element were detected separately; when we examined the repeatability of the present tactile sensor with 1,000 loading-unloading cycles, the respective error of the normal forces was 2%. In the present paper, the three-axis tactile sensor is mounted on a robotic finger of three degrees of freedom to evaluate it for dexterous hands. A series of three kinds of experiments were performed. First, the robotic hand touches and scans flat specimens to evaluate the sensing ability of the friction coefficient. Second, it detects the contour of parallelepiped and cylindrical objects. Finally, it manipulates a parallelepiped case put on a table by sliding it on the table. Since the present robotic hand was able to perform the above three tasks with appropriate precision, we expected that it would be applicable to dexterous hands in subsequent studies.
Starting Page	3425
Ending Page	3430
File Size	661599
Page Count	6
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543734
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Fingers Optical sensors Tactile sensors Optical surface waves Optical waveguides Grasping Shearing Humanoid robots Object detection
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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