Tactile sensing is of great importance during human hand usage such as object exploration, grasping and manipulation. Different types of tactile sensors have been designed during the past decades, which are mainly focused on either the fingertips for grasping or the upper-body for human-robot interaction.
In this paper, a novel soft tactile sensor has been designed to mimic the functionality of human palm that can estimate the contact state of different objects. The tactile palm mainly consists of three parts including an electrode array, a soft cover skin and conductive sponge. The design principle are described in details, with a number of experiments showcasing the effectiveness of the proposed design. (This work was supported by Suzhou Key Industry Technology Innovation Project under the grant agreement number SYG202121 and by the Fundamental Research Funds for the Central Universities under the grant agreement number 2042023kf0110).
A Novel Tactile Palm for Robotic Object Manipulation
Lect.Notes Computer
International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023
2023-10-16
12 pages
Article/Chapter (Book)
Electronic Resource
English
Tactile Sensor , Robotic Grasping and Manipulation , Robot Tactile Palm Computer Science , Artificial Intelligence , Software Engineering/Programming and Operating Systems , Computer Applications , User Interfaces and Human Computer Interaction , Computer Communication Networks , Special Purpose and Application-Based Systems