VARIABLE FRICTION SENSOR FOR DEXTEROUS ROBOT MANIPULATION AND HRI

Abstract

Multimodal tactile sensors typically use MEMS accelerometers with a high bandwidth and low force sensing range, along with pressure sensors with a low bandwidth and high force sensing range. These sensors are typically molded into an isotropic body with an anthropomorphic shape, providing uniform surface properties for robust grasping and preventing slippage by detecting friction-induced vibrations at the contact point with an object. However, when exploring or passing an object to an operator, a light contact with low friction is preferred. To address this issue, we developed a variable friction tactile sensor that incorporates contact areas dedicated to accelerometers and contact areas for force sensors. Our experimental results demonstrate the effectiveness of this approach in exploring the environment and detecting slip.