Tactile Object Exploration using Cursor Navigation Sensors

Dirk Kraft, Alexander Bierbaum, Morten Kjærgaard, Jurgis Ratkevicius, Anders KJær-Nielsen, Charlotte Ryberg, Henrik Petersen, Tamim Asfour, Rüdiger Dillmann, Norbert Krüger

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

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.
Original languageEnglish
Title of host publicationEuroHaptics conference and World Haptics
PublisherIEEE
Publication date2009
Pages296-301
ISBN (Print)978-1-4244-3858-7
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event3rd Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems - Salt Lake City, USA
Duration: 1 Jan 2009 → …

Conference

Conference3rd Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
CitySalt Lake City, USA
Period01/01/2009 → …

Cite this

Kraft, D., Bierbaum, A., Kjærgaard, M., Ratkevicius, J., KJær-Nielsen, A., Ryberg, C., Petersen, H., Asfour, T., Dillmann, R., & Krüger, N. (2009). Tactile Object Exploration using Cursor Navigation Sensors. In EuroHaptics conference and World Haptics (pp. 296-301). IEEE. https://doi.org/10.1109/WHC.2009.4810827