A Handheld Device for the In Situ Acquisition of Multimodal Tactile Sensing Data
@article{Wade2015AHD,
title={A Handheld Device for the In Situ Acquisition of Multimodal Tactile Sensing Data},
author={Joshua Wade and Tapomayukh Bhattacharjee and Charles C. Kemp},
journal={ArXiv},
year={2015},
volume={abs/1511.03152}
}Multimodal tactile sensing could potentially enable robots to improve their performance at manipulation tasks by rapidly discriminating between task-relevant objects. Data-driven approaches to this tactile perception problem show promise, but there is a dearth of suitable training data. In this two-page paper, we present a portable handheld device for the efficient acquisition of multimodal tactile sensing data from objects in their natural settings, such as homes. The multimodal tactile sensor…
6 Citations
Data-driven thermal recognition of contact with people and objects
- Computer Science2016 IEEE Haptics Symposium (HAPTICS)
- 2016
Evidence is provided that data-driven thermal tactile sensing can be used to recognize contact with people and objects in real-world settings and performance was good when generalizing to new contact locations in the same environment.
Learning a tool's homogeneous transformation by tactile-based interaction
- Materials Science2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)
- 2016
A tactile-based manipulation strategy to learn the homogeneous transformation of a grasped rigid tool, using tactile sensing delivered through a tactile matrix sensor covering the tool surface, thereby realizing a step towards a “plastic body schema” for flexible tool use by a robot.
Force and Thermal Sensing with a Fabric-based Skin
- Computer Science
- 2016
A novel fabric-based multimodal tactile sensing skin with three sensing modalities: force, actively heated temperature sensors to measure heat transfer and passive, unheated temperature sensors with recognition accuracy of 96% and 73% is presented.
A Review of Tactile Information: Perception and Action Through Touch
- Computer ScienceIEEE Transactions on Robotics
- 2020
An overview of tactile information and its applications in robotics is provided, which presents a hierarchy consisting of raw, contact, object, and action levels to structure the tactile information, with higher-level information often building upon lower- level information.
References
SHOWING 1-4 OF 4 REFERENCES
Tactile sensing over articulated joints with stretchable sensors
- Biology2013 World Haptics Conference (WHC)
- 2013
This paper demonstrates the importance of sensing across joints by simulating a planar arm reaching in clutter and finding the frequency of contact at the joints, and presents a simple model of how much a tactile sensor would need to stretch to cover a 2 degree-of-freedom wrist joint.
Rapid categorization of object properties from incidental contact with a tactile sensing robot arm
- Computer Science2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)
- 2013
It is demonstrated that data-driven methods can be used to rapidly categorize objects encountered through incidental contact on a robot arm, and a taxel-by-taxel classification approach can successfully categorize simultaneous contacts with multiple objects and can also identify outlier objects in the environment based on the prior associated with an object's likelihood in the given environment.
Material Recognition from Heat Transfer given Varying Initial Conditions and Short-Duration Contact
- EngineeringRobotics: Science and Systems
- 2015
This work modeled the thermodynamics of the sensor in contact with a material as contact between two semi-infinite solids in order to enable robots to more efficiently sense their environments and take advantage of brief contact events over which they lack control.