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Design of a flexible tactile sensor for classification of rigid and deformable objects
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.
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.ORCID iD: 0000-0003-2965-2953
2014 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 62, no 1, 3-15 p.Article in journal (Refereed) Published
Abstract [en]

For both humans and robots, tactile sensing is important for interaction with the environment: it is the core sensing used for exploration and manipulation of objects. In this paper, we present a novel tactile-array sensor based on flexible piezoresistive rubber. We describe the design of the sensor and data acquisition system. We evaluate the sensitivity and robustness of the sensor, and show that it is consistent over time with little relaxation. Furthermore, the sensor has the benefit of being flexible, having a high resolution, it is easy to mount, and simple to manufacture. We demonstrate the use of the sensor in an active object-classification system. A robotic gripper with two sensors mounted on its fingers performs a palpation procedure on a set of objects. By squeezing an object, the robot actively explores the material properties, and the system acquires tactile information corresponding to the resulting pressure. Based on a k nearest neighbor classifier and using dynamic time warping to calculate the distance between different time series, the system is able to successfully classify objects. Our sensor demonstrates similar classification performance to the Weiss Robotics tactile sensor, while having additional benefits.

Place, publisher, year, edition, pages
2014. Vol. 62, no 1, 3-15 p.
Keyword [en]
Tactile sensing, Piezoresistive rubber, Tactile object classification, Active perception
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-140132DOI: 10.1016/j.robot.2012.07.021ISI: 000328663000002Scopus ID: 2-s2.0-84888292881OAI: oai:DiVA.org:kth-140132DiVA: diva2:689651
Funder
Swedish Foundation for Strategic Research EU, FP7, Seventh Framework Programme, IST-FP7-IP-270182EU, FP7, Seventh Framework Programme, IST-FP7-IP-270212
Note

QC 20140121

Available from: 2014-01-21 Created: 2014-01-17 Last updated: 2017-12-06Bibliographically approved

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Kragic, Danica

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