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.
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
Similar content being viewed by others
References
Allen, P.K., Miller, A.T., Oh, P.Y., Leibowitz, B.S.: Integration of vision, force and tactile sensing for grasping. In Int. J. Intelligent Machines, Citeseer (1999)
Becedas, J., Payo, I., Feliu, V.: Two-flexible-fingers gripper force feedback control system for its application as endeffector on a 6 dof manipulator. IEEE Trans. Robot. 27(3), 599–615 (2011)
Burdea, G.: Force and Touch Feedback for Virtual Reality. Wiley, New York (1996)
Cannata, G., Maggiali, M.: An embedded tactile and force sensor for robotic manipulation and grasping. In: 2005 5th IEEE-RAS International Conference on Humanoid Robots, pp. 80–85, (2005)
Cooley, J., Turkey, J.: An algorithm for the machine calculation of complex fourier series. Math. Comput. 19, 297–301 (1965)
da Silva, J., de Carvallo, A., da Silva, D.: A strain gauge tactile sensor for finger-mounted applications. IEEE Trans. Instrum. Meas. 51(1), 18–22 (2002)
Dollar, A., Jentoft, L., Gao, J., Howe, R.: Contact sensing and grasping performance of compliant hands. Automous Robot. 28, 65–75 (2010)
Gunji, D., et al.: Grasping force control of multi-fingered robot hand based on slip detection using tactile sensor. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2605–2610 (2008)
Hoffmann, K.: Applying the wheatstone bridge circuit. Hottinger Baldwin Messtechnik GmbH (2001)
Holweg, E., et al.: Slip detection by tactile sensors: algorithms and experimental results. In: Proceedings of the IEEE Conference on Robotics and Automation, pp. 3234–3239 (1996)
Hosoda, K., Tada, Y., Asada, M.: Internal representation of slip for a soft finger with vision and tactile sensors. In: Proceedings of the International Conference on Intelligent Robots and Systems, pp. 111–115 (2002)
Kawamura, T., et al.: Measurement of slip, force and deformation using hybrid tactile sensor system for robot hand gripping an object. Int. J. Adv. Robot. Syst. 10(83), 1–8 (2012)
Kawasaki, H., Komatsu, T., Uchiyama, K.: Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand ii. IEEE Trans. Mechatron. 7(3), 296–303 (2002)
Lazzarini, R., Magni, R., Dario, P.: A tactile array sensor layered in an artificial skin. Proceedings of the IEEE International Conference on Intelligent Robots and Systems 3, 114–119 (1995)
Lee, M., Nicholls, H.: Tactile sensing for mechatronics - a state of the art survey. Mechatronics 9, 1–31 (1999)
Melchiorri, C.: Slip detection and control using tactile and force sensors. IEEE Trans. Mechatron. 5(3), 235–243 (2000)
Sokhanvar, S., Packirisamy, M., Dargahi, J.: A multifunctional pvdf-based tactile sensor for minimally invasive surgery. Smart Mater. Struct. 16, 989–998 (2007)
Tegin, J., Wikander, J.: Tactile sensing in intelligent robotic manipulation—a review. Ind. Robot. 32, 64–70 (2005)
Tremblay, M., Cutkosky, M.: Estimating friction using incipient slip sensing during a manipulation task. In: Proceedings of the IEEE Conference on Robotics and Automation, pp. 429–434 (1993)
Acknowledgments
This work was supported by the ConsejerÃa de Ciencia y TecnologÃa of the Junta de Comunidades de Castilla-La Mancha, Spain, under Contract PPIC10-0202-8377, and by the European Social Fund.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Fernandez, R., Payo, I., Vazquez, A.S., Becedas, J. (2016). Slip Detection in a Novel Tactile Force Sensor. In: Inaba, M., Corke, P. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 114. Springer, Cham. https://doi.org/10.1007/978-3-319-28872-7_14
Download citation
DOI: https://doi.org/10.1007/978-3-319-28872-7_14
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-28870-3
Online ISBN: 978-3-319-28872-7
eBook Packages: EngineeringEngineering (R0)