High-Speed Tactile Sensing for Array-Type Tactile Sensor and Object Manipulation Based on Tactile Information.pdfVIP

Hindawi Publishing Corporation Journal of Robotics Volume 2011, Article ID 691769, 9 pages doi:10.1155/2011/691769 Research Article High-Speed Tactile Sensing for Array-Type Tactile Sensor and Object Manipulation Based on Tactile Information Wataru Fukui,1 Futoshi Kobayashi,1 Fumio Kojima,1 Hiroyuki Nakamoto,2 Nobuaki Imamura,3 Tadashi Maeda,4 and Hidenori Shirasawa5 1 Department of Computer Science and Systems Engineering, Graduate School of Engineering, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, Japan 2 Hyogo Prefectural Institute of Technology, Hyogo 654-0037, Japan 3 Maeda Precision Mfg, Co., Ltd., Kobe 650-0017, Japan 4 Hiroshima International University, Kure 737-0112, Japan 5 The Advanced Materials Processing Institute Kinki Japan, Hyogo 660-0083, Japan Correspondence should be addressed to Wataru Fukui, wataru.fukui@ Received 14 July 2011; Revised 11 October 2011; Accepted 18 October 2011 Academic Editor: Yangmin Li Copyright © 2011 Wataru Fukui et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. We have developed a universal robot hand with tactile and other sensors. An array-type tactile sensor is crucial for dexterous manipulation of objects using a robotic hand, since this sensor can measure the pressure distribution on finger pads. The sensor has a very high resolution, and the shape of a grasped object can be classified by using this sensor. The more the number of measurement points provided, the higher the accuracy of the classification, but with a corresponding lengthening of the measurement cycle. In this paper,