Tactile object exploration using cursor navigation sensors

Dirk Kraft, Alexander Bierbaum, Morten Kjaergaard, Jurgis Ratkevicius, Anders Kjær-Nielsen, Charlotte Ryberg, Henrik Gordon Petersen, Tamim Asfour, Ruediger Dillmann, Norbert Krüger

Publikation: Kapitel i bog/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Abstrakt

In robotic applications tactile sensor systems serve the purpose of localizing a contact point and measuring contact forces. We have investigated the applicability of a sensorial device commonly used in cursor navigation technology for tactile sensing in robotics. We show the potential of this sensor for active haptic exploration. More specifically, we present experiments and results which demonstrate the extraction of relevant object properties such as local shape, weight and elasticity using this technology. Besides its low price due to mass production and its modularity, an interesting aspect of this sensor is that beside a localization of contact points and measurement of the contact normal force also shear forces can be measured. This is relevant for many applications such as surface normal estimation and weight measurements. Scalable tactile sensor arrays have been developed with this sensor which can be arranged as tiles on a surface, e.g. a manipulator.
OriginalsprogEngelsk
TitelEuroHaptics conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2009. Third Joint
Antal sider301
ForlagElectrical Engineering/Electronics, Computer, Communications and Information Technology Association
Publikationsdato2009
Sider296
ISBN (Trykt)978-1-4244-3858-7
DOI
StatusUdgivet - 2009
BegivenhedWorldhaptics 2009 - Salt Lake City, USA
Varighed: 18. mar. 200920. mar. 2009
Konferencens nummer: 3

Konference

KonferenceWorldhaptics 2009
Nummer3
Land/OmrådeUSA
BySalt Lake City
Periode18/03/200920/03/2009

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