Hostname: page-component-586b7cd67f-rcrh6 Total loading time: 0 Render date: 2024-11-24T19:00:33.144Z Has data issue: false hasContentIssue false
  • English
  • Français

Object exploration and manipulation using a robotic finger equipped with an optical three-axis tactile sensor

Published online by Cambridge University Press:  17 November 2008

Masahiro Ohka ,
Jumpei Takata ,
Hiroaki Kobayashi ,
Hirofumi Suzuki ,
Nobuyuki Morisawa  and
Hanafiah Bin Yussof
Masahiro Ohka*
Affiliation:
Department of Complex Systems Science, Graduate School of Information Science, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8601, Japan
Jumpei Takata
Affiliation:
Olympus Corporation, 2-3-1 Nishi-shinzyuku-ku, Tokyo 163-0914, Japan
Hiroaki Kobayashi
Affiliation:
Toyota Industry Corporation, 2-1 Toyoda-cho, Kariya 448-8671, Japan
Hirofumi Suzuki
Affiliation:
Department of Electronic Mechanical Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8601, Japan
Nobuyuki Morisawa
Affiliation:
Honda R & D Co. Ltd., 1-4-1 Chuo, Wako-shi, Saitama-ken 351-0193, Japan
Hanafiah Bin Yussof
Affiliation:
Department of Complex Systems Science, Graduate School of Information Science, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8601, Japan Universiti Teknologi MARA, 40450 Shah Alam, Selangor, Malaysia
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

To evaluate our three-axis tactile sensor developed in preceding papers, a tactile sensor is mounted on a robotic finger with 3-degrees of freedom. We develop a dual computer system that possesses two computers to enhance processing speed: one is for tactile information processing and the other controls the robotic finger; these computers are connected to a local area network. Three kinds of experiments are performed to evaluate the robotic finger's basic abilities required for dexterous hands. First, the robotic hand touches and scans flat specimens to evaluate their surface condition. Second, it detects objects with parallelepiped and cylindrical contours. Finally, it manipulates a parallelepiped object put on a table by sliding it. Since the present robotic hand performed the above three tasks, we conclude that it is applicable to the dexterous hand in subsequent studies.

Keywords

Tactile sensorThree-axisSurface measurementContour measurementObject manipulationRobotic finger
Type
Article
Information
Robotica , Volume 27 , Issue 5 , September 2009 , pp. 763 - 770
Copyright
Copyright © Cambridge University Press 2008

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Raibert, H. M. and Tanner, J. E. “Design and implementation of a VSLI tactile sensing computer,” Int. J. Robotics Res. 1 (3), 3–18 (1982).CrossRefGoogle Scholar
2. Hackwood, S., Beni, G., Hornak, L. A., Wolfe, R. and Nelson, T. J., “Torque-sensitive tactile array for robotics,” Int. J. Robotics Res. 2 (2), 46–50 (1983).CrossRefGoogle Scholar
3. Dario, P., Rossi, D. D., Domenci, C. and Francesconi, R., “Ferroelectric Polymer Tactile Sensors With Anthropomorphic Features,” Proceedings of the 1984 IEEE International Conference on Robotics and Automation (1984) pp. 332–340.Google Scholar
4. Novak, J. L., “Initial Design and Analysis of a Capacitive Sensor for Shear and Normal Force Measurement,” Proceedings of the 1989 IEEE International Conference on Robotic and Automation (1989) pp. 137–145.Google Scholar
5. Nicholls, H. R. and Lee, M. H., “A survey of robot tactile sensing technology,” Int. J. Robotics Res. 8 (3), 3–30 (1989).CrossRefGoogle Scholar
6. Ohka, M., Kobayashi, M., Shinokura, T. and Sagisawa, S., “Tactile expert system using a parallel-fingered hand fitted with three-axis tactile sensors,” JSME Int. J., Series C 37 (1), pp. 138–146 (1994).Google Scholar
7. Takeuchi, S., Ohka, M. and Mitsuya, Y., “Tactile Recognition Using Fuzzy Production Rules and Fuzzy Relations for Processing Image Data from Three-dimensional Tactile Sensors Mounted on a Robot Hand,” Proceedings of the Asian Control Conference, Vol. 3 (1994) pp. 631–634.Google Scholar
8. Mott, H., Lee, M. H. and Nicholls, H. R., “An Experimental Very-High-Resolution Tactile Sensor Array,” Proceedings of the 4th International Conference on Robot Vision and Sensory Control (1984) pp. 241–250.Google Scholar
9. Tanie, K., Komoriya, K., Kaneko, M., Tachi, S. and Fujiwara, A., “A High-Resolution Tactile Sensor Array,” In: Robot Sensors Vol. 2: Tactile and Non-Vision (IFS, Kempston, UK, 1986) pp. 189–198.Google Scholar
10. Nicholls, H. R., “Tactile Sensing Using an Optical Transduction Method,” In: Traditional and Non-traditional Robot Sensors (Henderson, T. C., ed.) (Springer-Verlag, Berlin Heidelberg, 1990) pp. 83–99.CrossRefGoogle Scholar
11. Kaneko, M., Maekawa, H. and Tanie, K., “Active Tactile Sensing by Robotic Fingers Based on Minimum-External-Sensor-Realization”, Proceedings of the IEEE International Conference on Robotics and Automation (1992) pp. 1289–1294.Google Scholar
12. Maekawa, H., Tanie, K., Komoriya, K., Kaneko, M., Horiguchi, C. and Sugawara, T., “Development of a Finger-Shaped Tactile Sensor and Its Evaluation by Active Touch,” Proceedings of the 1992 IEEE International Conference on Robotics and Automation (1992) pp. 1327–1334.Google Scholar
13. Ohka, M., Mitsuya, Y., Matsunaga, Y. and Takeuchi, S., “Sensing Characteristics of an optical three-axis tactile sensor under combined loading,” Robotica 22, 213–221 (2004).CrossRefGoogle Scholar
14. Ohka, M., Kawamura, T., Itahashi, T., Miyaoka, T. and Mitsuya, Y., “A tactile recognition system mimicking human mechanism for recognizing surface roughness,” JSME Int. J., Series C. 48 (2), pp. 278–285 (2005).CrossRefGoogle Scholar
15. Ohka, M., Kobayashi, H. and Mitsuya, Y., “Sensing Characteristics of an Optical Three-axis Tactile Sensor Mounted on a Multi-fingered Robotic Hand,” IEEE/RSJ International Conference on Intelligent Robots and Systems (2005) pp. 1959–1964.Google Scholar
16. Ohka, M., Kobayashi, H., Takata, J. and Mitsuya, Y., “Sensing Precision of an Optical Three-axis Tactile Sensor for a Robotic Finger,” Proceedings of the ROMAN 2006-The 15th IEEE International Symposium on Robot and Human Interactive Communication (2006) pp. 214–219.Google Scholar
17. Yussof, H., Ohka, M., Kobayashi, H., Takata, J., Yamano, M. and Nasu, Y., “Development of an optical three-axis tactile sensor for object handling tasks in humanoid robotic systems”, Studies in Computational Intelligence 76, 43–51 (2007).Google Scholar
18. Whitney, D. E., “Resolved motion rate control of manipulators and human prostheses,” IEEE Trans. Man Mach. Syst. 10 (2), 47–53 (1969).CrossRefGoogle Scholar
19. Muir, P. and Neuman, C. P., “Resolved Motion Rate and Resolved Acceleration Servo-Control of Wheeled Mobile Robots,” Proceedings of the 1990 IEEE International Conference on Robotics and Automation Vol. 2 (1990), pp. 1133–1140.CrossRefGoogle Scholar