Abstract
Dexterous grasping and manipulation of objects with robot hands requires the ability to monitor contact locations in real-time and with good spatial resolution in order to close the control loop required for object and contact trajectory generation. The ability to recognize incipient slippage will allow for autonomous grasp force adaption – a major prerequisite to handle objects of unknown weight.
To provide appropriate tactile sensing capabilities, this paper presents the development of a modular tactile sensor system focusing especially on high frame rates (up to 1.9 kHz) and good spatial resolution (5mm). Larger sensor areas are composed from identical sensor modules providing a 16×16 matrix of tactels. We compare different tactel layouts and force-sensitive materials to achieve optimal sensitivity especially to low forces in order to facilitate detection of first touch.
Finally we demonstrate the versatility of the sensor to detect incipient slippage employing a Fourier transformation of the high-frequency tactile signal as input to a multi-layer perceptron, which learns to accomplish the classification tasks.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Craig, J.C., Lyle, K.B.: A comparison of tactile spatial sensitivity on the palm and fingerpad. Perception & Psychophysics 63(2), 337–347 (2001)
Dahiya, R.S., Metta, G., Valle, M., Sandini, G.: Tactile sensing: from humans to humanoids. IEEE Transactions on Robotics 26(1), 1–20 (2010)
Fujimoto, I., Yamada, Y., Morizono, T., Umetani, Y., Maeno, T.: Development of artificial finger skin to detect incipient slip for realization of static friction sensation. In: Proc. MFI, Tokyo, pp. 15–20 (2003)
Gröger, D., Gorges, N., Wörn, H.: Tactile sensing for an anthropomorphic robotic hand: Hardware and signal processing. In: Proc. IEEE International Conference on Robotics and Automation, ICRA, pp. 895–901 (2009)
Han, L., Trinkle, J.C.: Dextrous manipulation by rolling and finger gaiting. In: IEEE Int. Conf. on Robotics and Automation, vol. 1, pp. 730–735 (1998)
Hosoda, K., Tada, Y., Asada, M.: Anthropomorphic robotic soft fingertip with randomly distributed receptors. Robotics and Autonomous Systems 109, 104–109 (2006)
Johansson, R.S., Westling, G.: Roles of glabrous skin receptors and sensorimotor memory in automatic control of precision grip when lifting rougher or more slippery objects. Experimental Brain Research 56(3), 550–564 (1984)
Johansson, R.S., Westling, G.: Signals in tactile afferents from the fingers eliciting adaptive motor responses during precision grip. Experimental Brain Research 66(1), 141–154 (1987), doi:10.1007/BF00236210
Kerpa, O., Weiss, K., Wörn, H.: Development of a flexible tactile sensor system for a humanoid robot. In: Proc. IROS, p. 6 (2003)
Lee, K.M., Foong, S.: Lateral optical sensor with slip detection of natural objects on moving conveyor. In: Proc. IEEE International Conference on Robotics and Automation, ICRA, pp. 329–334 (2008)
Makous, J., Friedman, R., Vierck, C.: A critical band filter in touch. J. Neurosciences 15(4), 2808–2818 (1995)
Röthling, F., Haschke, R., Steil, J.J., Ritter, H.: Platform portable anthropomorphic grasping with the bielefeld 20-DOF shadow and 9-DOF TUM hand. In: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2951–2956. IEEE, San Diego (2007), doi:10.1109/IROS.2007.4398963
Scheibert, J., Leurent, S., Prevost, A., Debregeas, G.: The role of fingerprints in the coding of tactile information probed with a biomimetic sensor. Science 323(5920), 1503–1506 (2009)
Schmidt, P.A., Maël, E., Wrtz, R.P.: A sensor for dynamic tactile information with applications in human-robot interaction and object exploration. Robotics and Autonomous Systems 54(12), 1005–1014 (2006)
Schöpfer, M., Schürmann, C., Pardowitz, M., Ritter, H.J.: Using a Piezo-Resistive Tactile Sensor for Detection of Incipient Slippage. In: Proceedings for the joint conference of ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics), VDE, Munich, Germany, pp. 14–20 (2010)
Schürmann, C., Koiva, R., Ritter, R.H.H.: A modular high-speed tactile sensor for human manipulation research. In: WorldHaptics. IEEE (2011)
Shimojo, M.: Mechanical Filtering Effect of Elastic Cover for Tactile Sensor. IEEE Transactions on Robotics and Automation 13(1) (1997)
Teshigawara, S., Tadakuma, K., Ming, A., Ishikawa, M., Shimojo, M.: Development of high-sensitivity slip sensor using special characteristics of pressure conductive rubber. In: Proc. IEEE International Conference on Robotics and Automation, ICRA, pp. 3289–3294 (2009)
Weiss, K., Wörn, H.: The working principle of resistive tactile sensor cells. Mechatronics and Automation 1, 471–476 (2005)
Weiss Robotics (2009), DSAMOD6 tactile sensor product specification, http://www.weiss-robotics.de/produkte/dsamod-6.htm
Yussof, H., Wada, J., Ohka, M.: Object handling tasks based on active tactile and slippage sensation in a multi-fingered humanoid robot arm. In: Proc. IEEE International Conference on Robotics and Automation, ICRA, pp. 502–507 (2009)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag GmbH Berlin Heidelberg
About this chapter
Cite this chapter
Schürmann, C., Schöpfer, M., Haschke, R., Ritter, H. (2012). A High-Speed Tactile Sensor for Slip Detection. In: Prassler, E., et al. Towards Service Robots for Everyday Environments. Springer Tracts in Advanced Robotics, vol 76. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25116-0_27
Download citation
DOI: https://doi.org/10.1007/978-3-642-25116-0_27
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-25115-3
Online ISBN: 978-3-642-25116-0
eBook Packages: EngineeringEngineering (R0)