Search for Articles:
Title / Keyword
Author / Affiliation / Email
Journal
Article Type
 
 
Advanced Search
 
Section
Special Issue
Volume
Issue
Number
Page
 

Saved Queries

Sign in to use this feature.

Search Filter Reset All

Years

Between: -

Subjects

remove_circle_outline
remove_circle_outline
remove_circle_outline
Add Subjects Reset
Select Subjects

Journals

remove_circle_outline
Add Journals Reset
Select Journals

Article Types

remove_circle_outline
Add Article Types Reset
Select Article Types

Countries / Regions

remove_circle_outline
remove_circle_outline
remove_circle_outline
remove_circle_outline
Add Countries / Regions Reset
Select Countries / Regions
Update Search
share announcement

Search Results (3)

Search Parameters:
Keywords = biomimetic fingertip

Order results
Result details
Results per page
Show export options expand_more Show export options expand_less
Select all
Export citation of selected articles as:
17 pages, 20917 KiB  
Article
Grip Stabilization through Independent Finger Tactile Feedback Control
by Filipe Veiga, Benoni Edin and Jan Peters
Sensors 2020, 20(6), 1748; https://doi.org/10.3390/s20061748 - 21 Mar 2020
Cited by 40 | Viewed by 6944
Abstract
Grip force control during robotic in-hand manipulation is usually modeled as a monolithic task, where complex controllers consider the placement of all fingers and the contact states between each finger and the gripped object in order to compute the necessary forces to be [...] Read more.
Grip force control during robotic in-hand manipulation is usually modeled as a monolithic task, where complex controllers consider the placement of all fingers and the contact states between each finger and the gripped object in order to compute the necessary forces to be applied by each finger. Such approaches normally rely on object and contact models and do not generalize well to novel manipulation tasks. Here, we propose a modular grip stabilization method based on a proposition that explains how humans achieve grasp stability. In this biomimetic approach, independent tactile grip stabilization controllers ensure that slip does not occur locally at the engaged robot fingers. Local slip is predicted from the tactile signals of each fingertip sensor i.e., BioTac and BioTac SP by Syntouch. We show that stable grasps emerge without any form of central communication when such independent controllers are engaged in the control of multi-digit robotic hands. The resulting grasps are resistant to external perturbations while ensuring stable grips on a wide variety of objects. Full article
(This article belongs to the Special Issue Sensors and Robot Control)
►▼ Show Figures

Figure 1

15 pages, 1985 KiB  
Article
Slippage Detection with Piezoresistive Tactile Sensors
by Rocco A. Romeo, Calogero M. Oddo, Maria Chiara Carrozza, Eugenio Guglielmelli and Loredana Zollo
Sensors 2017, 17(8), 1844; https://doi.org/10.3390/s17081844 - 10 Aug 2017
Cited by 42 | Viewed by 8843
Abstract
One of the crucial actions to be performed during a grasping task is to avoid slippage. The human hand can rapidly correct applied forces and prevent a grasped object from falling, thanks to its advanced tactile sensing. The same capability is hard to [...] Read more.
One of the crucial actions to be performed during a grasping task is to avoid slippage. The human hand can rapidly correct applied forces and prevent a grasped object from falling, thanks to its advanced tactile sensing. The same capability is hard to reproduce in artificial systems, such as robotic or prosthetic hands, where sensory motor coordination for force and slippage control is very limited. In this paper, a novel algorithm for slippage detection is presented. Based on fast, easy-to-perform processing, the proposed algorithm generates an ON/OFF signal relating to the presence/absence of slippage. The method can be applied either on the raw output of a force sensor or to its calibrated force signal, and yields comparable results if applied to both normal or tangential components. A biomimetic fingertip that integrates piezoresistive MEMS sensors was employed for evaluating the method performance. Each sensor had four units, thus providing 16 mono-axial signals for the analysis. A mechatronic platform was used to produce relative movement between the finger and the test surfaces (tactile stimuli). Three surfaces with submillimetric periods were adopted for the method evaluation, and 10 experimental trials were performed per each surface. Results are illustrated in terms of slippage events detection and of latency between the slippage itself and its onset. Full article
(This article belongs to the Special Issue Tactile Sensors and Sensing)
►▼ Show Figures

Figure 1

20 pages, 3755 KiB  
Article
Roughness Encoding in Human and Biomimetic Artificial Touch: Spatiotemporal Frequency Modulation and Structural Anisotropy of Fingerprints
by Calogero Maria Oddo, Lucia Beccai, Johan Wessberg, Helena Backlund Wasling, Fabio Mattioli and Maria Chiara Carrozza
Sensors 2011, 11(6), 5596-5615; https://doi.org/10.3390/s110605596 - 26 May 2011
Cited by 50 | Viewed by 11976
Abstract
The influence of fingerprints and their curvature in tactile sensing performance is investigated by comparative analysis of different design parameters in a biomimetic artificial fingertip, having straight or curved fingerprints. The strength in the encoding of the principal spatial period of ridged tactile [...] Read more.
The influence of fingerprints and their curvature in tactile sensing performance is investigated by comparative analysis of different design parameters in a biomimetic artificial fingertip, having straight or curved fingerprints. The strength in the encoding of the principal spatial period of ridged tactile stimuli (gratings) is evaluated by indenting and sliding the surfaces at controlled normal contact force and tangential sliding velocity, as a function of fingertip rotation along the indentation axis. Curved fingerprints guaranteed higher directional isotropy than straight fingerprints in the encoding of the principal frequency resulting from the ratio between the sliding velocity and the spatial periodicity of the grating. In parallel, human microneurography experiments were performed and a selection of results is included in this work in order to support the significance of the biorobotic study with the artificial tactile system. Full article
(This article belongs to the Special Issue Bioinspired Sensor Systems)
►▼ Show Figures

Graphical abstract

Show export options expand_more Show export options expand_less
Select all
Export citation of selected articles as:
 
Displaying article 1-50 on page 1 of 1.
Back to TopTop