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Classification of Rigid and Deformable Objects Using a Novel Tactile Sensor
Mads Clausen Institute for Product Innovation, University of Southern Denmark.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. (Center for Autonomous Systems)
Mads Clausen Institute for Product Innovation, University of Southern Denmark.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. (Center for Autonomous Systems)ORCID iD: 0000-0003-2965-2953
2011 (English)In: Proceedings of the 15th International Conference on Advanced Robotics (ICAR), IEEE , 2011, 427-434 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we present a novel tactile-array sensor for use in robotic grippers based on flexible piezoresistive rubber. We start by describing the physical principles of piezoresistive materials, and continue by outlining how to build a flexible tactile-sensor array using conductive thread electrodes. A real-time acquisition system scans the data from the array which is then further processed. We validate the properties of the sensor in an application that classifies a number of household objects while performing a palpation procedure with a robotic gripper. Based on the haptic feedback, we classify various rigid and deformable objects. We represent the array of tactile information as a time series of features and use this as the input for a k-nearest neighbors classifier. Dynamic time warping is used to calculate the distances between different time series. The results from our novel tactile sensor are compared to results obtained from an experimental setup using a Weiss Robotics tactile sensor with similar characteristics. We conclude by exemplifying how the results of the classification can be used in different robotic applications.

Place, publisher, year, edition, pages
IEEE , 2011. 427-434 p.
Keyword [en]
Tactile Sensor, Haptic Feedback, Object Classification
National Category
Robotics Signal Processing
Identifiers
URN: urn:nbn:se:kth:diva-47163DOI: 10.1109/ICAR.2011.6088622Scopus ID: 2-s2.0-84255204515ISBN: 978-145771158-9 (print)OAI: oai:DiVA.org:kth-47163DiVA: diva2:454637
Conference
IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011; Tallinn; Estonia; 20-23 June 2011
Projects
EU, FP7, project eSMCs, IST-FP7-IP-270212SSF RoSy
Funder
EU, FP7, Seventh Framework Programme, IST-FP7-IP-270212
Note

QC 20140915

Available from: 2011-11-24 Created: 2011-11-07 Last updated: 2014-09-15Bibliographically approved

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Kragic, Danica

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CiteExportLink to record
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