Conference paper
Tactile object exploration using cursor navigation sensors
Mærsk Mc-Kinney Møller Institute, University of Southern Denmark, Odense, Denmark1
Institute of Computer Science and Engineering, University of Karlsruhe (TH), Germany2
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.
| Language: | English |
|---|---|
| Year: | 2009 |
| Pages: | 296-301 |
| Proceedings: | 2009 world Haptics Conference (WHC 2009) |
| ISBN: | 1424438586 and 9781424438587 |
| Types: | Conference paper |
| DOI: | 10.1109/WHC.2009.4810827 |
Elasticity Force measurement Force sensors Haptic interfaces I.2.9 [Artificial Intelligence]: Robotics—Sensors Mass production Navigation Robot sensing systems Sensor arrays Shape Tactile sensors contact forces contact normal force contact points localization cursor navigation sensors haptic interfaces robots scalable tactile sensor arrays sensorial device shear forces tactile object exploration tactile sensor systems tactile sensors
