NDLI: Haptic discrimination of material properties by a robotic hand

Content Provider	IEEE Xplore Digital Library
Author	Takamuku, S. Gomez, G. Hosoda, K. Pfeifer, R.
Copyright Year	2007
Description	Author affiliation: Osaka Univ., Osaka (Takamuku, S.)
Abstract	One of the key aspects of understanding human intelligence is to investigate how humans interact with their environment. Performing articulated movement and manipulation tasks in a constantly changing environment, have proven more difficult than expected. The difficulties of robot manipulation are in part due to the unbalanced relation between vision and haptic sensing. Most robots are equipped with high resolution cameras, which images are processed by well established computer vision algorithms such as color segmentation, motion detection, edge detection, etc. However, the majority of robots have very limited haptic capabilities. This paper presents our attempt to overcome this difficulties by: (a) using a tendon driven robotic hand with rich dynamical movements and (b) covering the hand with a set of haptic sensors on the palm and the fingertips, the sensors are based on a simplified version of an artificial skin with strain gauges and PVDF (polyvinylidene fluoride) films. The results show that if the robotic hand actively explores different objects using the exploratory procedures: tapping and squeezing, material properties such as hardness and texture can be used to discriminate haptically between different objects.
Starting Page	1
Ending Page	6
File Size	822233
Page Count	6
File Format	PDF
ISBN	9781424411153
DOI	10.1109/DEVLRN.2007.4354057
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-07-11
Publisher Place	UK
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer vision Image resolution tapping squeezing Robot vision systems Humans Color Haptic interfaces Intelligent robots Haptic perception artificial skin Robot sensing systems Cameras tendon driven robotic hand Material properties
Content Type	Text
Resource Type	Article

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