Development of a Visual-Tactile Fingertip Sensor and an Object Manipulation Method using a Multi-Fingered Robotic Hand

Seunghyun Choi, Kenji Tahara

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

Abstract

In this paper, a novel visual-tactile sensor is proposed and an object manipulation method of a grasped object by a multi-fingered robotic hand is proposed by detecting a contact position using the visual-tactile sensor. The visual-tactile sensor is composed of a hemispheric fingertip part made of soft silicone with hollow inside and a general USB camera located at the inside of the fingertip to detect the displacement of many point markers embedded in the silicone. The deformation of each point marker due to a contact force is measured and a contact position is estimated in stable through a novel method of creating virtual points in figuring out the point clouds. Not only to demonstrate the estimation performance of the new visual-tactile sensor itself, but its practical usefulness in a grasping and manipulation task is also illustrated as well. By using a contact position obtained from the proposed sensor and the position of each fingertip obtained from kinematics, the position and orientation of a grasped object are estimated and controlled. Its performance is demonstrated through numerical simulation results.

Original languageEnglish
Title of host publicationProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1008-1015
Number of pages8
ISBN (Electronic)9781728166674
DOIs
Publication statusPublished - Jan 2020
Event2020 IEEE/SICE International Symposium on System Integration, SII 2020 - Honolulu, United States
Duration: Jan 12 2020Jan 15 2020

Publication series

NameProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020

Conference

Conference2020 IEEE/SICE International Symposium on System Integration, SII 2020
CountryUnited States
CityHonolulu
Period1/12/201/15/20

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Biomedical Engineering
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality
  • Control and Optimization
  • Instrumentation

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