Contact State Estimation by Vision-Based Tactile Sensors for Dexterous Manipulation with Robot Hands Based on Shape-Sensing | Zendy

Yuji Ito | Zendy; Youngwoo Kim | Zendy; Chikara Nagai | Zendy; Goro Obinata | Zendy

Open Access

Contact State Estimation by Vision-Based Tactile Sensors for Dexterous Manipulation with Robot Hands Based on Shape-Sensing

Author(s) -

Yuji Ito,

Youngwoo Kim,

Chikara Nagai,

Goro Obinata

Publication year - 2011

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/50899

Subject(s) - tactile sensor , silicon rubber , computer vision , artificial intelligence , robot , computer science , object (grammar) , contact force , tactile display , materials science , physics , quantum mechanics , composite material

We propose a new method for estimating the contact state of objects with varying shapes on a vision-based fluid-type tactile sensor, which touch pad is an elastic transparent membrane of silicon rubber with dotted pattern printed on its inner side. The membrane is filled with translucent red colored water. The proposed method leads to better understanding of the object's shape and movement, and can be applied for accomplishing reliable and dexterous handling tasks by robot hands

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