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Slip Detection in a Novel Tactile Force Sensor

Chapter
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 114)

Abstract

Tactile sensing improves the manipulation and grasping of unknown objects. It contributes to increase the knowledge of the environment and provides useful information to improve grasping control. The sensors traditionally used for tactile sensing emphasize in grasping object shape and force detection. However slip detection is also crucial to successfully manipulate an object. Several approaches have appeared to detect slipping, the majority being a combination of complex sensors with complex algorithms. In this paper, we present a simple, low cost and durable tactile force sensor and its use to slip detection via a simple but effective method based on micro-vibration detection. We also analyze the results of using the same principle to detect slip in other force sensors based on flexible parts. In particular, we also show the slip detection with: a flexible finger (designed by the authors) acting as a force sensor, the finger torque sensor of a commercial robotic hand (Barrett Hand), and a commercial 6-axis force sensor mounted in the wrist of a robot.

Keywords

Contact Force Discrete Fourier Transform Applied Force Force Sensor Tactile Sensor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Notes

Acknowledgments

This work was supported by the Consejería de Ciencia y Tecnología of the Junta de Comunidades de Castilla-La Mancha, Spain, under Contract PPIC10-0202-8377, and by the European Social Fund.

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Department of Electrical, Electronics and Control EngineeringUniversity of Castilla-La ManchaCiudad RealSpain

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