Abstract
We propose a new method for estimating the contact state of objects with varying shapes on a vision-based fluid-type tactile sensor, which touch pad is an elastic transparent membrane of silicon rubber with dotted pattern printed on its inner side. The membrane is filled with translucent red colored water. The proposed method leads to better understanding of the object's shape and movement, and can be applied for accomplishing reliable and dexterous handling tasks by robot hands.
Highlights
Quality of tactile sensors is a key factor that determines the efficiency of the robot in the completion of tasks that require dexterity of robot hands and precise handling of objects [1]
We propose a new method for estimating the contact region and location of various‐shaped objects on a vision‐based fluid‐type tactile sensor
We estimated the contact region based on the condition (8) of the points, which were at intervals of 0.38 mm in x and y directions on the membrane
Summary
Quality of tactile sensors is a key factor that determines the efficiency of the robot in the completion of tasks that require dexterity of robot hands and precise handling of objects [1]. In order to achieve dexterous handling of robots, it is required to obtain contact forces [8][9] and information on slippage [10]‐[17] on the sensor surface. A sensor surface with an elastic sensor body is deformed by applied forces This adds uncertainty when estimating the location of the object, and if the sensor is applied to a robot hand, it will bring about large manipulation error. Robot hands achieve more reliable and dexterous handling with the use of the contact force and slippage, and shape‐sensing information. We propose a new method for estimating the contact region and location of various‐shaped objects on a vision‐based fluid‐type tactile sensor. The field of the application of this sensor is anthropomorphic robotic hands with five fingers and industrial robotic hands and robotic hands with simple structures different from human hands
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