We are currently experiencing intermittent issues impacting performance. We apologize for the inconvenience.
By Topic

Object detection by tactile sensing method employing force/torque information

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Tsujimura, T. ; NTT Transmission Syst. Lab., Ibaraki, Japan ; Yabuta, T.

An object shape detection system using a force/torque sensor and an insensitive probe is proposed. the development of a tactile sensing method is which makes it possible to estimate a contact position on the probe by measuring only contact force is presented. Though the probe itself is not sensitive, the method derives the contact position from force information measured by the sensor. The estimated values do not depend on either the magnitude or the direction of the force. The method can be with any probes of any shape and material. This method is applied to a manipulator system, and object shape detection experiments are conducted using two types of probes. Shapes of three-dimensional objects are successfully reproduced. The results confirm that the method enables the manipulator system to detect objects without precise control

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:5 ,  Issue: 4 )