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Representation and tactile sensing of 3-D objects by a gripper finger

Published online by Cambridge University Press:  09 March 2009

Gen-Ichiro Kinoshita
Gen-Ichiro Kinoshita
Affiliation:
Department of Electrical Engineering, Faculty of Science and Engineering, Chuo University, 1–13–27, Kasuga, Bunkyo-ku, Tokyo, Japan
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Summary

The tactile sensor is constructed as a part of the finger of a parallel jaw hand; it is of the size of a finger and allows for a large displacement of the sensor element in response to force. The structure of the tactile sensor incorporates 20 successively and closely aligned elements, which allow for a 2.5 mm maximum displacement for each element. In the described experiments we present the capabilities of the tactile sensor. The tactile sensor has the functions of: 1) discriminating the shape of the partial surface of an object; and 2) tracing by finger on the surface along the profile of an object.

Type
Article
Information
Robotica , Volume 1 , Issue 4 , October 1983 , pp. 217 - 222
Copyright
Copyright © Cambridge University Press 1983

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References

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2.Harmon, L.D., “Automated tactile sensing” The International Int. J. Robotic Research, 1, 2 (1982).Google Scholar
3.Kinoshita, G. et al. , “Pattern classification of the grasped object by the artificial hand” Procs. Third Inter. Joint conf. on Artificial Intelligence (1973).Google Scholar
4.Gurfinkel, V.S. et al. , “Tactile sensitizing of manipulators” Engineering Cybernetics 12, 6 (1974).Google Scholar
5.Kinoshita, G., “Classification of grasped object's shape by an artificial hand with multi-element tactile sensors” Information-control Problems in Manufacturing Technology (Pergamon Press, Oxford and New York, 1978).Google Scholar