IROS 2015 Paper Abstract


Paper ThCT7.6

Denei, Simone (University of Genova), Maiolino, Perla (University of Genova- DIST), Baglini, Emanuele (University of Genova), Cannata, Giorgio (University of Genova)

On the Development of a Tactile Sensor for Fabric Manipulation and Classification for Industrial Applications

Scheduled for presentation during the Regular session "Perception for Grasping and Manipulation 2" (ThCT7), Thursday, October 1, 2015, 12:35−12:50, Saal B3

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 20, 2019

Keywords Force and Tactile Sensing, Industrial Robots, Grasping


In this paper a novel multi-modal tactile sensor is presented, featuring a matrix of capacitive based pressure sensors, a microphone for acoustic measurements and proximity and ambient light sensor. The sensor is fully embedded and can be easily integrated at mechanical and electrical levels with industrial grippers. Tactile sensing design has been put on the same level of additional requirements, usually overlooked in tactile sensor research, such as the mechanical interface, cable harness required for interconnecting the sensor with the rest of the system and robustness against continuous and repetitive operations, just to name but a few. The performances of the different sensing modalities have been assessed in a test rig for tactile sensors. Experiments have been performed in order to show the capabilities of the sensor for implementing tactile based industrial gripper control and tactile based fabric classification.



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