A prototype fingertip with high spatial resolution pressure sensing for the robot iCub

Alexander Schmitz, Marco Maggiali, Marco Randazzo, Lorenzo Natale, Giorgio Metta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

21 Citations (Scopus)

Abstract

Tactile feedback is of crucial importance for object manipulation in unknown environments. In this paper we describe the design and realization of a fingertip which includes a capacitive pressure sensor with 12 sensitive zones. It is naturally shaped and its size is small enough so that it can be mounted on the fingers of the humanoid robot iCub. It also embeds the electronic device which performs A/D conversion: This is beneficial for the signal to noise ratio and reduces the number of wires required to connect the fingertip to the robot. The fingertip is made of silicone, which makes its surface and inner structure compliant and flexible. We present preliminary experiments performed with the first prototype.

Original languageEnglish
Title of host publication2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
Pages423-428
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008 - Daejeon, Korea, Republic of
Duration: 2008 Dec 12008 Dec 3

Publication series

Name2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008

Conference

Conference2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
CountryKorea, Republic of
CityDaejeon
Period08/12/108/12/3

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

Cite this

Schmitz, A., Maggiali, M., Randazzo, M., Natale, L., & Metta, G. (2008). A prototype fingertip with high spatial resolution pressure sensing for the robot iCub. In 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008 (pp. 423-428). [4755988] (2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008). https://doi.org/10.1109/ICHR.2008.4755988