496 research outputs found
Minsight: A Fingertip-Sized Vision-Based Tactile Sensor for Robotic Manipulation
Intelligent interaction with the physical world requires perceptual abilities
beyond vision and hearing; vibrant tactile sensing is essential for autonomous
robots to dexterously manipulate unfamiliar objects or safely contact humans.
Therefore, robotic manipulators need high-resolution touch sensors that are
compact, robust, inexpensive, and efficient. The soft vision-based haptic
sensor presented herein is a miniaturized and optimized version of the
previously published sensor Insight. Minsight has the size and shape of a human
fingertip and uses machine learning methods to output high-resolution maps of
3D contact force vectors at 60 Hz. Experiments confirm its excellent sensing
performance, with a mean absolute force error of 0.07 N and contact location
error of 0.6 mm across its surface area. Minsight's utility is shown in two
robotic tasks on a 3-DoF manipulator. First, closed-loop force control enables
the robot to track the movements of a human finger based only on tactile data.
Second, the informative value of the sensor output is shown by detecting
whether a hard lump is embedded within a soft elastomer with an accuracy of
98%. These findings indicate that Minsight can give robots the detailed
fingertip touch sensing needed for dexterous manipulation and physical
human-robot interaction
Soft, Round, High Resolution Tactile Fingertip Sensors for Dexterous Robotic Manipulation
High resolution tactile sensors are often bulky and have shape profiles that
make them awkward for use in manipulation. This becomes important when using
such sensors as fingertips for dexterous multi-fingered hands, where boxy or
planar fingertips limit the available set of smooth manipulation strategies.
High resolution optical based sensors such as GelSight have until now been
constrained to relatively flat geometries due to constraints on illumination
geometry.Here, we show how to construct a rounded fingertip that utilizes a
form of light piping for directional illumination. Our sensors can replace the
standard rounded fingertips of the Allegro hand.They can capture high
resolution maps of the contact surfaces,and can be used to support various
dexterous manipulation tasks
An Embedded, Multi-Modal Sensor System for Scalable Robotic and Prosthetic Hand Fingers
Grasping and manipulation with anthropomorphic robotic and prosthetic hands presents a scientific challenge regarding mechanical design, sensor system, and control. Apart from the mechanical design of such hands, embedding sensors needed for closed-loop control of grasping tasks remains a hard problem due to limited space and required high level of integration of different components. In this paper we present a scalable design model of artificial fingers, which combines mechanical design and embedded electronics with a sophisticated multi-modal sensor system consisting of sensors for sensing normal and shear force, distance, acceleration, temperature, and joint angles. The design is fully parametric, allowing automated scaling of the fingers to arbitrary dimensions in the human hand spectrum. To this end, the electronic parts are composed of interchangeable modules that facilitate the echanical scaling of the fingers and are fully enclosed by the mechanical parts of the finger. The resulting design model allows deriving freely scalable and multimodally sensorised fingers for robotic and prosthetic hands. Four physical demonstrators are assembled and tested to evaluate the approach
An Embedded, Multi-Modal Sensor System for Scalable Robotic and Prosthetic Hand Fingers
Grasping and manipulation with anthropomorphic robotic and prosthetic hands presents a scientific challenge regarding mechanical design, sensor system, and control. Apart from the mechanical design of such hands, embedding sensors needed for closed-loop control of grasping tasks remains a hard problem due to limited space and required high level of integration of different components. In this paper we present a scalable design model of artificial fingers, which combines mechanical design and embedded electronics with a sophisticated multi-modal sensor system consisting of sensors for sensing normal and shear force, distance, acceleration, temperature, and joint angles. The design is fully parametric, allowing automated scaling of the fingers to arbitrary dimensions in the human hand spectrum. To this end, the electronic parts are composed of interchangeable modules that facilitate the echanical scaling of the fingers and are fully enclosed by the mechanical parts of the finger. The resulting design model allows deriving freely scalable and multimodally sensorised fingers for robotic and prosthetic hands. Four physical demonstrators are assembled and tested to evaluate the approach
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