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

Agarwal R, Bergbreiter S (2019)

Publication Type: Conference contribution

Publication year: 2019

Publisher: Institute of Electrical and Electronics Engineers Inc.

Pages Range: 330-336

Conference Proceedings Title: RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics

Event location: Seoul KR

ISBN: 9781538692608

DOI: 10.1109/ROBOSOFT.2019.8722774

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.

Authors with CRIS profile

Rishabh Agarwal Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik

Involved external institutions

Carnegie Mellon University US United States (USA) (US)

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.

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