Tactile sensing provides critical information, such as force, texture, shape or temperature, in manipulation tasks. In particular, tactile sensors traditionally used in robotics are emphasized in contact force determination for grasping control and object recognition. Nevertheless, slip detection is also crucial to successfully manipulate an object. Several approaches have appeared to detect slipping, the majority being a combination of complex sensors with complex algorithms. In this paper, we deal with simplicity, analyzing how a novel, but simple, algorithm, based on micro-vibration detection, can be used in a simple, but low-cost and durable, force sensor. We also analyze the results of using the same principle to detect slipping in other force sensors based on flexible parts. In particular, we show and compare the slip detection with: (i) a flexible finger, designed by the authors, acting as a force sensor; (ii) the finger torque sensor of a commercial robotic hand; (iii) a commercial six-axis force sensor mounted on the wrist of a robot; and (iv) a fingertip piezoresistive matrix sensor.
References
[1]
Lee, M.; Nicholls, H. Tactile sensing for mechatronics—A state of the art survey. Mechatronics 1999, 9, 1–31.
[2]
Yoshikawa, T.; Harada, K.; Matsumoto, A. Hybrid position/force control of flexible-macro/rigid-micro manipulator systems. IEEE Trans. Robot. Autom. 1996, 12, 633–640.
[3]
Payo, I.; Feliu, V.; Cortazar, O.D. Force control of a very lightweight single-link flexible arm based on coupling torque feedback. Mechatronics 2009, 19, 6334–6347.
[4]
Li, R.; Adelson, E.H. Sensing and Recognizing Surface Textures Using a Gelsight Sensor. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, Portland, OR, USA, 23–28 June 2013.
[5]
Allen, P.K.; Miller, A.T.; Oh, P.Y.; Leibowitz, B.S. Integration of vision, force and tactile sensing for grasping. Int. J. Intell. Mechatron. 1999, 4, 129–149.
[6]
Becedas, J.; Payo, I.; Feliu, V.; Sira-Ramirez, H. Generalized Proportional Integral Control for a Robot with Flexible Finger Gripper. Procedings of the 17th IFAC World Congress, Seoul, Korea, 6–11 July 2008; pp. 6769–6775.
[7]
Becedas, J.; Payo, I.; Feliu, V. Two-flexible-fingers gripper force feedback control system for its application as endeffector on a 6 dof manipulator. IEEE Trans. Robot. 2011, 27, 599–615.
[8]
Kawasaki, H.; Komatsu, T.; Uchiyama, K. Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu Hand II. IEEE Trans. Mechatron. 2002, 7, 296–303.
[9]
Tegin, J.; Wikander, J. Tactile sensing in intelligent robotic manipulation—A review. Ind. Robots 2005, 32, 64–70.
[10]
Cannata, G.; Maggiali, M. An Embedded Tactile and Force Sensor for Robotic Manipulation and Grasping. Proceedings of the 2005 5th IEEE -RAS International Conference on Humanoid Robots, Tsukuba, Japan, 5 December 2005; pp. 80–85.
[11]
Bicchi, A. Hands for dexterous manipulation and robust grasping: A difficult road toward simplicity. IEEE Trans. Robot. Autom. 2000, 16, 652–662.
[12]
Edin, B.B.; Ascari, L.; Beccai, L.; Roccella, S.; Cabibihan, J.J.; Carrozza, M.C. Bio-inspired sensorization of a biomechatronic robot hand for the grasp-and-lift task. Brain Res. Bull. 2008, 75, 785–795.
[13]
Goeger, D.; Ecker, N.; Woern, H. Tactile Sensor and Algorithm to Detect Slip in Robot Grasping Processes. Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics, Bangkok, Thailand, 14–17 December 2008; pp. 1480–1485.
[14]
Fukui, W.; Kobayashi, F.; Kojima, F.; Nakamoto, H.; Maeda, T.; Imamura, N.; Sasabe, K.; Shirasawa, H. Fingertip Force and Position Control Using Force Sensor and Tactile Sensor forUniversal Robot Hand II. Proceedings of the 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS), Paris, France, 11–15 April 2011; pp. 43–48.
[15]
Bridgwater, L.B.; Ihrke, C.A.; Diftler, M.A.; Abdallah, M.E.; Radford, N.A.; Rogers, J.M.; Yayathi, S.; Askew, R.S.; Linn, D.M. The Robonaut 2 Hand—Designed to do Work With Tools. Proceedings of the 2012 IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA, 14–18 May 2012.
[16]
Da Silva, J.; de Carvallo, A.; da Silva, D. A strain gauge tactile sensor for finger-mounted applications. IEEE Trans. Instrum. Meas. 2002, 51, 18–22.
[17]
Lee, L. Tactile sesing, new directions, new challenges. Int. J. Robot. Res. 2000, 19, 636–643.
[18]
Dargahi, J.; Najarian, S. Advances in tactile sensors design/manufacturing and its impact on robotics applications—A review. Ind. Robot 2005, 32, 268–281.
[19]
Sokhanvar, S.; Packirisamy, M.; Dargahi, J. A multifunctional PVDF-based tactile sensor for minimally invasive surgery. Smart Mater. Struct. 2007, 16, 989–998.
[20]
Dollar, A.; Jentoft, L.; Gao, J.; Howe, R. Contact sensing and grasping performance of compliant hands. Automous Robots 2010, 28, 65–75.
[21]
Castellanos-Ramos, J.; Navas-Gonzlez, R.; Macicior, H.; Sikora, T.; Ochoteco, E.; Vidal-Verd, F. Tactile sensors based on conductive polymers. Microsyst. Technol. 2010, 16, 765–776.
[22]
Kawasaki, H.; Komatsu, T.; Uchiyama, K. Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu Hand II. IEEE Trans. Mechatron. 2002, 7, 296–303.
[23]
Tremblay, M.; Cutkosky, M. Estimating Friction Using Incipient Slip Sensing During a Manipulation Task. Proceedings of the IEEE Conference on Robotics and Automation, Atlanta, GA, USA, 2–6 May 1993; pp. 429–434.
[24]
Maeno, T.; Kawai, T.; Kobayashi, K. Analysis and Design of a Tactile Sensor Detecting Strain Distribution inside an Elastic Finger. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Victoria, BC, Canada, 13–17 October 1998; pp. 1658–1663.
[25]
Maeno, T.; Hiromitsu, S.; Kawai, T. Control of Grasping Force by Detecting Stick/slip Distribution at the Curved Surface of an Elastic Finger. Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, USA, 24–28 April 2000; pp. 3895–3900.
[26]
Holweg, E.; Hoeve, H.; Jongkind, W.; Marconi, L.; Melchiorri, C.; Bonivento, C. Slip Detection by Tactile Sensors: Algorithms and Experimental Results. Proceedings of the IEEE Conference on Robotics and Automation, Minneapolis, MN, USA, 22–28 April 1996; pp. 3234–3239.
[27]
Lazzarini, R.; Magni, R.; Dario, P. A Tactile Array Sensor Layered in an Artificial Skin. Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Pittsburgh, PA, USA, 5–9 August 1995; Volume 3, pp. 114–119.
[28]
Zhang, X.; Liu, R. Slip Detection by Array-Type Pressure Sensor. Proceedings of 2012 IEEE International Conference on Mechatronics and Automation, Chengdu, China, 5–8 August 2012.
[29]
Hosoda, K.; Tada, Y.; Asada, M. Internal Representation of Slip for a Soft Finger with Vision and Tactile Sensors. Proceedings of the International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, 30 September–4 October 2002; pp. 111–115.
[30]
Kawamura, T.; Inaguma, N.; Nejigane, K.; Tani, K.; Yamada, H. Measurement of slip, force and deformation using hybrid tactile sensor system for robot hand gripping an object. Int. J. Adv. Robot. Syst. 2012, 10, 1–8.
[31]
Gunji, D.; Mizoguchi, Y.; Teshigawara, S.; Ming, A.; Namiki, A.; Ishikawaand, M.; Shimojo, M. Grasping Force Control of Multi-Fingered Robot Hand Based on Slip Detection Using Tactile Sensor. Proceedings of the IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, 19– May 2008; pp. 2605–2610.
[32]
Melchiorri, C. Slip detection and control using tactile and force sensors. IEEE Trans. Mechatron. 2000, 5, 235–243.
[33]
Hoffmann, K. Applying the Wheatstone Bridge Circuit; Hottinger Baldwin Messtechnik GmbH: Darmstadt, Germany, 2001.
[34]
Cooley, J.; Turkey, J. An algorithm for the machine calculation of complex Fourier series. Math. Comput. 1965, 19, 297–301.
