Reflex control by a rubber-based tactile sensor

摘要

In this paper, new uses of a rubber-based tactile matrix sensor to perform shape and grasp force adaptation in robotic manipulation are presented. The sensor consists in a 16 x 16 taxel matrix and a rubber whose resistance changes with the applied force. It is shown how this sensor, besides the usual information such as shape recognition, contact point position, pressure measurement and so on, can be profitably used for shape adaption and grasp force adaptation. In this way, the sensor can replace more sophisticated and complex sensory devices needed for advanced manipulation tasks. In particular an euristic algorithm able to achieve a maximum local contact area between a manipulated object and a robotic finger as well as a new approach to detect the relative slip are presented and discussed.