Estimating object grasp sliding via pressure array sensing

• Main Authors: Alcazar, J. A., Barajas, L. G.
• Format: Conference Proceeding
• Language: English
• Subjects: Arrays; Estimation; Robot sensing systems; Skin; Vectors
• ISSN: 1050-4729; 2577-087X
• DOI: 10.1109/ICRA.2012.6224979

Advances in design and fabrication technologies are enabling the production and commercialization of sensor-rich robotic hands with skin-like sensor arrays. Robotic skin is poised to become a crucial interface between the robot embodied intelligence and the external world. The need to fuse and make sense out of data extracted from skin-like sensors is readily apparent. This paper presents a real-time sensor fusion algorithm that can be used to accurately estimate object position, translation and rotation during grasping. When an object being grasped moves across the sensor array, it creates a sliding sensation; the spatial-temporal sensations are estimated by computing localized slid vectors using an optical flow approach. These results were benchmarked against an L ∞ Norm approach using a nominal known object trajectory generated by sliding and rotating an object over the sensor array using a second, high accuracy, industrial robot. Rotation and slid estimation can later be used to improve grasping quality and dexterity.