Tactile sensor and algorithm to detect slip in robot grasping processes

@article{Gger2008TactileSA,
  title={Tactile sensor and algorithm to detect slip in robot grasping processes},
  author={Dirk G{\"o}ger and Nico Ecker and Heinz W{\"o}rn},
  journal={2008 IEEE International Conference on Robotics and Biomimetics},
  year={2008},
  pages={1480-1485}
}
In this paper we introduce a tactile slip sensor for an anthropomorphic robot hand, the measurement circuit and the corresponding algorithm to determine slip states. The main slip sensor components consist of a silicone rubber surface which covers a PVDF sensor. After the amplification of the signal it is processed by a discrete short-time Fourier transform. The resulting spectrogram is processed by a principal component analysis to determine the main signal components. For a classification of… CONTINUE READING

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