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Slip phase isolating: impulsive signal generating vibrotactile sensor and its application to real-time object regrip control

Published online by Cambridge University Press:  01 January 2000

Yoji Yamada ,
Hiroyuki Morita  and
Yoji Umetani
Yoji Yamada
Affiliation:
Toyota Technological Institute, 2-12-1, Hisakata, Tempaku, Nagoya 468-8511 (Japan) yamada@toyota-ti.ac.jp
Hiroyuki Morita
Affiliation:
Denso Co. Ltd., 1-1 Showa-cho, Kariya 448-0029 (Japan)
Yoji Umetani
Affiliation:
Toyota Technological Institute, 2-12-1, Hisakata, Tempaku, Nagoya 468-8511 (Japan) yamada@toyota-ti.ac.jp
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Abstract

This paper mainly concerns a vibrotactile sensor capable of generating impulsive high-frequency signals for exclusively distinguishing a slip phase from various other contact phases. We describe the structure of the vibrotactile sensor with surface ridges and, after analyzing the slip signals, conclude that the output signal originates in the free vibration of the ridge. By using a two-fingered robot hand with the sensor attached to its compliant endtips, we verify that the vibrotactile sensor has a slip phase isolating function and demonstrate object regrip control in real time.

Keywords

Vibrotactile sensorImpulsive signalSlip phaseTwo-fingered hand
Type
Research Article
Information
Robotica , Volume 18 , Issue 1 , January 2000 , pp. 43 - 49
Copyright
© 2000 Cambridge University Press

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