Robotic tactile sensor system and applications

Kitti Suwanratchatamanee, Mitsuharu Matsumoto, Shuji Hashimoto

    研究成果: Article査読

    49 被引用数 (Scopus)


    This paper presents a tactile sensor system for a robot manipulator and an active-sensing technique to realize 3-D object recognitions concerning object shape, object surface normal, and object edge tracing with experimental results. The proposed tactile sensor units implemented on the robot hand consist of three thin sheets of force-sensitive resistors arranged triangularly with the peripheral circuits. One potential application of the proposed techniques is to realize an effective humanrobot cooperation to move an object together by utilizing the control of a hand pose to keep the direction of the hand normal to the object surface in three dimensions, which is often necessary when pushing an object. Another is a 3-D object edge tracing. The proposed techniques can be employed in industrial processes such as welding and inspection to eliminate manual teaching procedures for searching the object edge automatically before doing the welding process. In these applications, information about the object shape or orientation is not required in advance.

    ジャーナルIEEE Transactions on Industrial Electronics
    出版ステータスPublished - 2010 3

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Control and Systems Engineering
    • Computer Science Applications

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