Abstract
In this paper we propose a new iterative algorithm for effective contact information identification, allowing a fingertip equipped with 6-axis force/torque sensor to accurately estimate contact information, including the contact location on the fingertip, the direction and the magnitude of the friction and normal forces, the local torque generated at the surface. The proposed algorithm is highly computational efficient and achieves an update rate of 833 Hz. The accuracy of the proposed algorithm has been validated experimentally. The results show that the algorithm provides precise estimation for all the identified contact properties.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Bicchi A (2000) Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity. IEEE Trans Robotics Autom 16(6):652–662
Liu H, Li J, Song X, Seneviratne L, Althoefer K (2011) Rolling indentation probe for tissue abnormality identification during minimally invasive surgery. IEEE Trans Robotics 27(3):450–460
Jia Y-B, Erdmann M (1999) Pose and motion from contact. Int J Robotics Res 18:466–487
Lefebvre T, Bruyninckx H, Schutter JD (2005) Polyhedral contact formation identification for autonomous compliant motion: exact nonlinear bayesian filtering. IEEE TransRobotics 21(1):124–129
Okamura AM, Cutkosky MR (2001) Feature detection for haptic exploration with robotic fingers. Int J Robotics Res 20:925
Jamali N, Sammut C (2011) Majority voting: material classification by tactile sensing using surface texture. IEEE Trans Robotics 27(3):508–521
Liu H, Song X, Nanayakkara T, Althoefer K, Seneviratne L (2011) Friction estimation based object surface classification for intelligent manipulation. In: IEEE ICRA 2011 workshop on autonomous grasping, Shanghai
Liu H, Noonan DP, Challacombe BJ, Dasgupta P, Seneviratne LD, Althoefer K (2010) Rolling mechanical imaging for tissue abnormality localization during minimally invasive surgery. IEEE Trans Biomed Eng 57(2):404–414
Lederman SJ, Klatzky RL (1990) Haptic classification of common objects: knowledge-driven exploration. Cognit Psychol 22:421–459
Dahiya RS, Metta G, Valle M, Sandini G (2010) Tactile sensing—from humans to humanoids. IEEE Trans Robotics 26(1):1–20
Salisbury JK (1984) Interpretation of contact geometries from force measurements. In: Brady M, Paul R (eds) Proceedings of 1st international symposium on robotics research. MIT Press, Cambridge, pp 565–577
Brock DL, Chiu S (1985) Environment perceptions of an articulated robot hand using contact sensors. In: Proceedings of ASME winter annual meeting, Miami, pp 228–235
Tsujimura T, Yabuta T (1988) Object detection by tactile sensing method employing force/torque information. IEEE Trans Robotics Autom 5(4):444–450
Bicchi A, Salisbury JK, Brock DL (1993) Contact sensing from force and torque measurements. Int J Robotics Res 12(3):249–262
Gálvez JA, de Santos González P, Pfeiffer F (2001) Intrinsic tactile sensing for the optimization of force distribution in a pipe crawling robot. IEEE/ASME Trans Mechatron 6(1):26–35
Murakami K, Hasegawa T (2005) Tactile sensing of edge direction of an object with a soft fingertip contact. In: Proceedings of the IEEE ICRA, pp 240–247
Yamada T, Tanaka A, Yamada M, Yamamoto H, Funahashi Y (2010) Autonomous sensing strategy for parameter identification of contact conditions by active force sensing. In: IEEE international conference on robotics and biomimetics, pp 839–844
Madsen K, Nielsen HB, Tingleff O (2004) Methods for non-linear least square problems. Department of Mathematical Modelling, Technical University of Denmark, Denmark
Acknowledgments
The research leading to these results has been supported by the HANDLE project, which has received funding from the European Community’s Seventh Framework Programme (FP7/2007-2013) under grant agreement ICT 231640.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag London
About this paper
Cite this paper
Liu, H., Song, X., Bimbo, J., Althoefer, K., Senerivatne, L. (2012). Intelligent Fingertip Sensing for Contact Information Identification. In: Dai, J., Zoppi, M., Kong, X. (eds) Advances in Reconfigurable Mechanisms and Robots I. Springer, London. https://doi.org/10.1007/978-1-4471-4141-9_54
Download citation
DOI: https://doi.org/10.1007/978-1-4471-4141-9_54
Published:
Publisher Name: Springer, London
Print ISBN: 978-1-4471-4140-2
Online ISBN: 978-1-4471-4141-9
eBook Packages: EngineeringEngineering (R0)