elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Impressum | Datenschutz | Kontakt | English
Schriftgröße: [-] Text [+]

Experimental Evaluation of Tactile Sensors for Compliant Robotic Hands

Friedl, Werner und Roa Garzon, Máximo Alejandro (2021) Experimental Evaluation of Tactile Sensors for Compliant Robotic Hands. Frontiers in Robotics and AI. Frontiers Media S.A. doi: 10.3389/frobt.2021.704416. ISSN 2296-9144.

[img] PDF - Verlagsversion (veröffentlichte Fassung)
4MB

Offizielle URL: https://www.frontiersin.org/articles/10.3389/frobt.2021.704416/full

Kurzfassung

The sense of touch is a key aspect in the human capability to robustly grasp and manipulate a wide variety of objects. Despite many years of development, there is still no preferred solution for tactile sensing in robotic hands: multiple technologies are available, each one with different benefits depending on the application. This study compares the performance of different tactile sensors mounted on the variable stiffness gripper CLASH 2F, including three commercial sensors: a single taxel sensor from the companies Tacterion and Kinfinity, the Robotic Finger Sensor v2 from Sparkfun, plus a self-built resistive 3 × 3 sensor array, and two self-built magnetic 3-DoF touch sensors, one with four taxels and one with one taxel. We verify the minimal force detectable by the sensors, test if slip detection is possible with the available taxels on each sensor, and use the sensors for edge detection to obtain the orientation of the grasped object. To evaluate the benefits obtained with each technology and to assess which sensor fits better the control loop in a variable stiffness hand, we use the CLASH gripper to grasp fruits and vegetables following a published benchmark for pick and place operations. To facilitate the repetition of tests, the CLASH hand is endowed with tactile buttons that ease human–robot interactions, including execution of a predefined program, resetting errors, or commanding the full robot to move in gravity compensation mode.

elib-URL des Eintrags:https://elib.dlr.de/145187/
Dokumentart:Zeitschriftenbeitrag
Titel:Experimental Evaluation of Tactile Sensors for Compliant Robotic Hands
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Friedl, WernerWerner.Friedl (at) dlr.dehttps://orcid.org/0000-0003-3002-7274NICHT SPEZIFIZIERT
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223NICHT SPEZIFIZIERT
Datum:11 Oktober 2021
Erschienen in:Frontiers in Robotics and AI
Referierte Publikation:Ja
Open Access:Ja
Gold Open Access:Ja
In SCOPUS:Ja
In ISI Web of Science:Ja
DOI:10.3389/frobt.2021.704416
Verlag:Frontiers Media S.A
ISSN:2296-9144
Status:veröffentlicht
Stichwörter:tactile sensors, slippage detection, hand design, grasp stiffness, grasp benchmarking
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Robotik
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R RO - Robotik
DLR - Teilgebiet (Projekt, Vorhaben):R - Mehrfingrige Roboterhände [RO]
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik (ab 2013) > Mechatronische Systeme
Hinterlegt von: Friedl, Werner
Hinterlegt am:08 Nov 2021 10:12
Letzte Änderung:23 Okt 2023 09:50

Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags

Blättern
Suchen
Hilfe & Kontakt
Informationen
electronic library verwendet EPrints 3.3.12
Gestaltung Webseite und Datenbank: Copyright © Deutsches Zentrum für Luft- und Raumfahrt (DLR). Alle Rechte vorbehalten.