NDLI: Correction of image data using three-axis tactile sensing

Content Provider	IEEE Xplore Digital Library
Author	Abdullah, S.C. Ikai, T. Dosho, Y. Yussof, H.B. Ohka, M.
Copyright Year	2011
Description	Author affiliation: Graduate School of Information Science, Nagoya University, Furo-cho, Chikusaku, Nagoya 464-8601, Japan (Abdullah, S.C.) \|\| Graduate School of Information Science, Nagoya University (Ohka, M.) \|\| Graduate School of Engineering, Nagoya University (Ikai, T.; Dosho, Y.) \|\| Universiti Teknologi MARA, 40450 Shan Alam Selangor, Malaysia (Yussof, H.B.)
Abstract	The vision compensates for the limitations of tactile information and tactile sensing, and vice versa. The tactile sensor can obtain geometrical data as real scale, while image data requires calibration to obtain length as a metric unit. Even if stereovision is used, we cannot obtain sufficient precision. In the evaluation test, the robotic hand equipped with tactile sensors traces an object including convex and concave portions to evaluate edge trace precision. Error of distance obtained by the binocular vision is around ± 10 mm when distance between the camera and object is around 600 mm. When the hand-arm robot touches the convex portion of the object, size data obtained by the vision is modified within ± 0.5 mm accuracy. Since the robotic finger is too thick to touch the bottom of the concave, size data of the concave portion obtained by tactile sensing includes relatively large error of around 4 mm. However, the robot finger can follow the contour with ± 0.5 mm accuracy except for the bottom portion. Therefore, vision sensing is not sufficient for precise edge exploration and modification based on tactile sensing is required.
Starting Page	1444
Ending Page	1449
File Size	1002886
Page Count	6
File Format	PDF
ISBN	9781457721366
e-ISBN	9781457721380
DOI	10.1109/ROBIO.2011.6181493
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-07
Publisher Place	Thailand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Image edge detection Thumb Force
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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