器用なロボットハンドのための圧抵抗基板を用いた触覚センシングの比較
Comparing Piezoresistive Substrates for Tactile Sensing in Dexterous Hands
4種類の圧抵抗材料と布・帯電防止フォーム基板を比較し、低密度フォーム基板で多指ハンドの掌に貼れる触覚スキンを開発、把持・運搬時の接触検出と位置特定を示した。
著者: Rebecca Miles, Martin Matak, Sarah Hood, Mohanraj Devendran Shanthi, Darrin Young, Tucker Hermans
分類: cs.RO
原文アブストラクト
While tactile skins have been shown to be useful for detecting collisions between a robotic arm and its environment, they have not been extensively used for improving robotic grasping and in-hand manipulation. We propose a novel sensor design for use in covering existing multi-fingered robot hands. We analyze the performance of four different piezoresistive materials using both fabric and anti-static foam substrates in benchtop experiments. We find that although the piezoresistive foam was designed as packing material and not for use as a sensing substrate, it performs comparably with fabrics specifically designed for this purpose. While these results demonstrate the potential of piezoresistive foams for tactile sensing applications, they do not fully characterize the efficacy of these sensors for use in robot manipulation. As such, we use a low density foam substrate to develop a scalable tactile skin that can be attached to the palm of a robotic hand. We demonstrate several robotic manipulation tasks using this sensor to show its ability to reliably detect and localize contact, as well as analyze contact patterns during grasping and transport tasks. Our project website provides details on all materials, software, and data used in the sensor development and analysis: https://sites.google.com/gcloud.utah.edu/piezoresistive-tactile-sensing/.
