Measurement of shear forces during gripping tasks with a low-cost tactile sensing system

Conference contribution


Publication Details

Author(s): Agarwal R, Bergbreiter S
Publisher: Institute of Electrical and Electronics Engineers Inc.
Publication year: 2019
Conference Proceedings Title: RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics
Pages range: 330-336
ISBN: 9781538692608


Abstract

To grasp and manipulate complex objects, robots require information about the interaction between the end effector and the object. This work describes the integration of a low-cost 3-axis tactile sensing system into two different robotic systems and the measurement of these complex interactions. The sensor itself is a small, lightweight, and compliant silicone based capacitive sensor. The soft and conformable design of the sensor allows it to be integrated within a variety of end effectors and locations on those end effectors (e.g. wrapped around a finger). To improve integration and data collection of the sensors, a custom interface board and ROS (Robot Operating System) package were developed. Sensor data has been collected from four different tasks: 1. pick and place of non-conductive and conductive objects, 2. wrist-based manipulation, 3. peeling tape, and 4. human interaction with a grasped object. In the last task, a closed loop controller is used to adjust the grip force on the grasped object while the human interacts with it.


FAU Authors / FAU Editors

Agarwal, Rishabh
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik


External institutions with authors

Carnegie Mellon University


How to cite

APA:
Agarwal, R., & Bergbreiter, S. (2019). Measurement of shear forces during gripping tasks with a low-cost tactile sensing system. In RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics (pp. 330-336). Seoul, KR: Institute of Electrical and Electronics Engineers Inc..

MLA:
Agarwal, Rishabh, and Sarah Bergbreiter. "Measurement of shear forces during gripping tasks with a low-cost tactile sensing system." Proceedings of the 2019 IEEE International Conference on Soft Robotics, RoboSoft 2019, Seoul Institute of Electrical and Electronics Engineers Inc., 2019. 330-336.

BibTeX: 

Last updated on 2019-25-06 at 09:38