Tactile sensing in dexterous robot hands - Review

Zhanat Kappassov, Juan Antonio Corrales, Véronique Perdereau

Research output: Chapter in Book/Report/Conference proceedingChapter

162 Citations (Scopus)

Abstract

Tactile sensing is an essential element of autonomous dexterous robot hand manipulation. It provides information about forces of interaction and surface properties at points of contact between the robot fingers and the objects. Recent advancements in robot tactile sensing led to development of many computational techniques that exploit this important sensory channel. This paper reviews current state-of-the-art of manipulation and grasping applications that involve artificial sense of touch and discusses pros and cons of each technique. The main issues of artificial tactile sensing are addressed. General requirements of a tactile sensor are briefly discussed and the main transduction technologies are analyzed. Twenty eight various tactile sensors, each integrated into a robot hand, are classified in accordance with their transduction types and applications. Previously issued reviews are focused on hardware part of tactile sensors, whereas we present an overview of algorithms and tactile feedback-based control systems that exploit signals from the sensors. The applications of these algorithms include grasp stability estimation, tactile object recognition, tactile servoing and force control. Drawing from advancements in tactile sensing technology and taking into consideration its drawbacks, this paper outlines possible new directions of research in dexterous manipulation.
Original languageEnglish
Title of host publicationRobotics and Autonomous Systems
PublisherElsevier
Pages195-220
Number of pages26
ISBN (Print)0921-8890
DOIs
Publication statusPublished - 2015

Publication series

NameRobotics and Autonomous Systems
Volume74

Fingerprint

End effectors
Robots
Sensors
Force control
Object recognition
Surface properties
Feedback
Hardware
Control systems

Keywords

  • Dexterous manipulation
  • Review
  • Robot hands
  • Tactile sensing
  • Tactile sensing application
  • Tactile sensors

Cite this

Kappassov, Z., Corrales, J. A., & Perdereau, V. (2015). Tactile sensing in dexterous robot hands - Review. In Robotics and Autonomous Systems (pp. 195-220). (Robotics and Autonomous Systems; Vol. 74). Elsevier. https://doi.org/10.1016/j.robot.2015.07.015

Tactile sensing in dexterous robot hands - Review. / Kappassov, Zhanat; Corrales, Juan Antonio; Perdereau, Véronique.

Robotics and Autonomous Systems. Elsevier, 2015. p. 195-220 (Robotics and Autonomous Systems; Vol. 74).

Research output: Chapter in Book/Report/Conference proceedingChapter

Kappassov, Z, Corrales, JA & Perdereau, V 2015, Tactile sensing in dexterous robot hands - Review. in Robotics and Autonomous Systems. Robotics and Autonomous Systems, vol. 74, Elsevier, pp. 195-220. https://doi.org/10.1016/j.robot.2015.07.015
Kappassov Z, Corrales JA, Perdereau V. Tactile sensing in dexterous robot hands - Review. In Robotics and Autonomous Systems. Elsevier. 2015. p. 195-220. (Robotics and Autonomous Systems). https://doi.org/10.1016/j.robot.2015.07.015
Kappassov, Zhanat ; Corrales, Juan Antonio ; Perdereau, Véronique. / Tactile sensing in dexterous robot hands - Review. Robotics and Autonomous Systems. Elsevier, 2015. pp. 195-220 (Robotics and Autonomous Systems).
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