Identification of Contact Conditions by Active Force Sensing

  • Takayoshi Yamada
  • Tetsuya Mouri
  • Nobuharu Mimura
  • Yasuyuki Funahashi
  • Hidehiko Yamamoto
Part of the Studies in Computational Intelligence book series (SCI, volume 252)


When a grasped object is in contact with an external environment, it is required to identify contact conditions prior to performing assembly tasks. The contact conditions include contact position, contact force, contact type, direction of contact normal, and direction of contact line between a grasped object and its environment. This article distinguishes soft-finger, line, and planar contact types in addition to point contact type. It is assured that these four contact types are distinguishable when the number of active force sensing samples is at least 6. Efficient algorithms for parameter identification and transition detection of contact conditions are explained. Effectiveness of our proposed method is verified through numerical examples.


Robot active force sensing contact conditions parameter identification transition detection contact force and moment 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Takayoshi Yamada
    • 1
  • Tetsuya Mouri
    • 1
  • Nobuharu Mimura
    • 2
  • Yasuyuki Funahashi
    • 3
  • Hidehiko Yamamoto
    • 1
  1. 1.Dept. of Human and Information Systems, Faculty of EngineeringGifu UniversityGifuJapan
  2. 2.Dept. of Biocybernetics, Faculty of Engineering.Niigata UniversityNiigataJapan
  3. 3.Dept. of System Engineering of Human Body, Faculty of Life System Science and TechnologyChukyo UniversityToyotaJapan

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