Tactile sensing in dexterous robot hands – review
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Date
2016-05-06
Authors
Kappassov, Zhanat
Corrales, Juan-Antonio
Perdereau, Véronique
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Abstract
Tactile sensing is an essential element of autonomous dexterous robot hand manipulation. It provides information about
forces of interaction and surface properties at points of contact between the robot fingers and the objects. Recent
advancements in robot tactile sensing led to development of many computational techniques that exploit this important
sensory channel. This paper reviews current state-of-the-art of manipulation and grasping applications that involve
artificial sense of touch and discusses pros and cons of each technique. The main issues of artificial tactile sensing are
addressed. General requirements of a tactile sensor are briefly discussed and the main transduction technologies are
analyzed. Twenty eight various tactile sensors, each integrated into a robot hand, are classified in accordance with their
transduction types and applications. Previously issued reviews are focused on hardware part of tactile sensors, whereas
we present an overview of algorithms and tactile feedback-based control systems that exploit signals from the sensors.
The applications of these algorithms include grasp stability estimation, tactile object recognition, tactile servoing and
force control. Drawing from advancements in tactile sensing technology and taking into consideration its drawbacks,
this paper outlines possible new directions of research in dexterous manipulation
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Keywords
Tactile sensing, tactile sensors, robot hands, dexterous manipulation, tactile sensing application, review
Citation
Zhanat Kappassova, Juan-Antonio Corralesb, Véronique Perdereaua. 2016. Tactile sensing in dexterous robot hands – review. Science Direct.