Slippage degree estimation for dexterous handling of vision-based tactile sensor

In this paper, we propose a new slippage degree estimation method, where the vision-based tactile sensor was used to measure multi-dimensional force and moment in contact with an object. We proposed a new method using a reference image to obtain the stick ratio. The reference image is defined as pre...

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Bibliographic Details
Main Authors: Ito, Y., YoungWoo Kim, Obinata, G.
Format: Conference Proceeding
Language:English
Subjects:
Charge coupled devices
Charge-coupled image sensors
Force control
Force measurement
Force sensors
Friction
Grippers
Humans
Optical sensors
Tactile sensors
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Description
Summary:In this paper, we propose a new slippage degree estimation method, where the vision-based tactile sensor was used to measure multi-dimensional force and moment in contact with an object. We proposed a new method using a reference image to obtain the stick ratio. The reference image is defined as previous image from which the grasped object moves a certain distance while updating the images. We show that the proposed method can be successfully applied to the following situations, after the macroscopic slippage occurs, the moving direction of the grasped object changes, or a moment is applied.
ISSN:1930-0395
2168-9229
DOI:10.1109/ICSENS.2009.5398268