TACTILE SENSING DATA INTERPRETATION FOR OBJECT MANIPULATION

This paper describes work that has been done in extracting and interpreting tactile sensing data. A flat, 16 by 16 tactile sensor array, with conductive rubber as transducing element, is used. The work aims at investigating appropriate methods to determine contact force, centre of gravity and orientation of the object from a single static touch. Measurement accuracy is enhanced with respect to traditional 2D methods by using '3D' tactile information. A new method, based on tactile data, for estimating the of a cylindrical object is explored with satisfactory results. A multi-fingered robot hand equipped with tactile sensors will use this method to perform rolling manipulations.