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Sensors 2018, 18(2), 333; https://doi.org/10.3390/s18020333

A Novel Event-Based Incipient Slip Detection Using Dynamic Active-Pixel Vision Sensor (DAVIS)

1
Faculty of Science, Engineering and Computing, Kingston University London, London SW15 3DW, UK
2
Robotics Institute, Khalifa University of Science and Technology, P.O. Box 127788, Abu Dhabi 999041, UAE
*
Author to whom correspondence should be addressed.
Received: 28 November 2017 / Revised: 19 January 2018 / Accepted: 22 January 2018 / Published: 24 January 2018
(This article belongs to the Special Issue Smart Sensors for Mechatronic and Robotic Systems)
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Abstract

In this paper, a novel approach to detect incipient slip based on the contact area between a transparent silicone medium and different objects using a neuromorphic event-based vision sensor (DAVIS) is proposed. Event-based algorithms are developed to detect incipient slip, slip, stress distribution and object vibration. Thirty-seven experiments were performed on five objects with different sizes, shapes, materials and weights to compare precision and response time of the proposed approach. The proposed approach is validated by using a high speed constitutional camera (1000 FPS). The results indicate that the sensor can detect incipient slippage with an average of 44.1 ms latency in unstructured environment for various objects. It is worth mentioning that the experiments were conducted in an uncontrolled experimental environment, therefore adding high noise levels that affected results significantly. However, eleven of the experiments had a detection latency below 10 ms which shows the capability of this method. The results are very promising and show a high potential of the sensor being used for manipulation applications especially in dynamic environments. View Full-Text
Keywords: incipient slip; robot grasping; dynamic vision sensor; tactile sensor; vision-based slip detection incipient slip; robot grasping; dynamic vision sensor; tactile sensor; vision-based slip detection
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Rigi, A.; Baghaei Naeini, F.; Makris, D.; Zweiri, Y. A Novel Event-Based Incipient Slip Detection Using Dynamic Active-Pixel Vision Sensor (DAVIS). Sensors 2018, 18, 333.

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