Tactile Sensing-From Humans to Humanoids

被引：1332

作者：

Dahiya, Ravinder S. ^{[1
]}

Metta, Giorgio ^{[1
,2
]}

Valle, Maurizio ^{[3
]}

Sandini, Giulio ^{[1
,2
]}

机构：

[1] Italian Inst Technol, Robot Brain & Cognit Sci Dept, I-16163 Genoa, Italy

[2] Univ Genoa, Dipartimento Informat Sistemist & Telemat, I-16145 Genoa, Italy

[3] Univ Genoa, Dipartimento Ingn Biofis & Elettron, I-16145 Genoa, Italy

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2010年 / 26卷 / 01期

关键词：

Cutaneous sensing; extrinsic sensing; humanoid robots; robotic skin; tactile sensing; touch sensing system; ADAPTING MECHANORECEPTIVE AFFERENTS; HUMAN HAND; LARGE-AREA; FINGERTIP FORCES; PRESSURE SENSOR; PRECISION GRIP; GLABROUS SKIN; SHAPE; INFORMATION; PERCEPTION;

D O I：

10.1109/TRO.2009.2033627

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Starting from human "sense of touch," this paper reviews the state of tactile sensing in robotics. The physiology, coding, and transferring tactile data and perceptual importance of the " sense of touch" in humans are discussed. Following this, a number of design hints derived for robotic tactile sensing are presented. Various technologies and transduction methods used to improve the touch sense capability of robots are presented. Tactile sensing, focused to fingertips and hands until past decade or so, has now been extended to whole body, even though many issues remain open. Trend and methods to develop tactile sensing arrays for various body sites are presented. Finally, various system issues that keep tactile sensing away from widespread utility are discussed.

引用

页码：1 / 20

页数：20

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