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World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Tactile object exploration using cursor navigation sensors
Salt Lake City, UT, USA
March 18-March 20
ISBN: 978-1-4244-3858-7
Alexander Bierbaum, Institute of Computer Science and Engineering, University of Karlsruhe (TH), Germany
Tamim Asfour, Institute of Computer Science and Engineering, University of Karlsruhe (TH), Germany
Rudiger Dillmann, Institute of Computer Science and Engineering, University of Karlsruhe (TH), Germany
In robotic applications tactile sensor systems serve the purpose of localizing a contact point and measuring contact forces. We have investigated the applicability of a sensorial device commonly used in cursor navigation technology for tactile sensing in robotics. We show the potential of this sensor for active haptic exploration. More specifically, we present experiments and results which demonstrate the extraction of relevant object properties such as local shape, weight and elasticity using this technology. Besides its low price due to mass production and its modularity, an interesting aspect of this sensor is that beside a localization of contact points and measurement of the contact normal force also shear forces can be measured. This is relevant for many applications such as surface normal estimation and weight measurements. Scalable tactile sensor arrays have been developed with this sensor which can be arranged as tiles on a surface, e.g. a manipulator.
Citation:
Dirk Kraft, Alexander Bierbaum, Morten Kjaergaard, Jurgis Ratkevicius, Anders Kjaer-Nielsen, Charlotte Ryberg, Henrik Petersen, Tamim Asfour, Rudiger Dillmann, Norbert Kruger, "Tactile object exploration using cursor navigation sensors," whc, pp.296-301, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2009
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