Tactile slippage analysis in optical three-axis tactile sensor for robotic hand
This paper presents experimental results of object handling motions to evaluate tactile slippage sensation in a multi fingered robot arm with optical three-axis tactile sensors installed on its two hands. The optical three-axis tactile sensor is a type of tactile sensor capable of defining normal an...
| Main Authors: | , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
Trans Tech Publications
2014
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| Online Access: | http://psasir.upm.edu.my/id/eprint/35592/ http://psasir.upm.edu.my/id/eprint/35592/1/Tactile%20slippage%20analysis%20in%20optical%20three-axis%20tactile%20sensor%20for%20robotic%20hand.pdf |
| _version_ | 1848848098420326400 |
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| author | Yussof, Hanafiah Zahari, Nur Ismarrubie Makhtar, Ahmad Khushairy Ohka, Masahiro Basir, Siti Nora |
| author_facet | Yussof, Hanafiah Zahari, Nur Ismarrubie Makhtar, Ahmad Khushairy Ohka, Masahiro Basir, Siti Nora |
| author_sort | Yussof, Hanafiah |
| building | UPM Institutional Repository |
| collection | Online Access |
| description | This paper presents experimental results of object handling motions to evaluate tactile slippage sensation in a multi fingered robot arm with optical three-axis tactile sensors installed on its two hands. The optical three-axis tactile sensor is a type of tactile sensor capable of defining normal and shear forces simultaneously. Shear force distribution is used to define slippage sensation in the robot hand system. Based on tactile slippage analysis, a new control algorithm was proposed. To improve performance during object handling motions, analysis of slippage direction is conducted. The control algorithm is classified into two phases: grasp-move-release and grasp-twist motions. Detailed explanations of the control algorithm based on the existing robot arm control system are presented. The experiment is conducted using a bottle cap, and the results reveal good performance of the proposed control algorithm to accomplish the proposed object handling motions. |
| first_indexed | 2025-11-15T09:29:06Z |
| format | Conference or Workshop Item |
| id | upm-35592 |
| institution | Universiti Putra Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T09:29:06Z |
| publishDate | 2014 |
| publisher | Trans Tech Publications |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | upm-355922018-01-19T09:06:05Z http://psasir.upm.edu.my/id/eprint/35592/ Tactile slippage analysis in optical three-axis tactile sensor for robotic hand Yussof, Hanafiah Zahari, Nur Ismarrubie Makhtar, Ahmad Khushairy Ohka, Masahiro Basir, Siti Nora This paper presents experimental results of object handling motions to evaluate tactile slippage sensation in a multi fingered robot arm with optical three-axis tactile sensors installed on its two hands. The optical three-axis tactile sensor is a type of tactile sensor capable of defining normal and shear forces simultaneously. Shear force distribution is used to define slippage sensation in the robot hand system. Based on tactile slippage analysis, a new control algorithm was proposed. To improve performance during object handling motions, analysis of slippage direction is conducted. The control algorithm is classified into two phases: grasp-move-release and grasp-twist motions. Detailed explanations of the control algorithm based on the existing robot arm control system are presented. The experiment is conducted using a bottle cap, and the results reveal good performance of the proposed control algorithm to accomplish the proposed object handling motions. Trans Tech Publications 2014 Conference or Workshop Item PeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/35592/1/Tactile%20slippage%20analysis%20in%20optical%20three-axis%20tactile%20sensor%20for%20robotic%20hand.pdf Yussof, Hanafiah and Zahari, Nur Ismarrubie and Makhtar, Ahmad Khushairy and Ohka, Masahiro and Basir, Siti Nora (2014) Tactile slippage analysis in optical three-axis tactile sensor for robotic hand. In: 4th Mechanical and Manufacturing Engineering, 17-18 Dec 2013, Bangi-Putrajaya, Malaysia. (pp. 1375-1379). https://www.scientific.net/AMM.465-466.1375 10.4028/www.scientific.net/AMM.465-466.1375 |
| spellingShingle | Yussof, Hanafiah Zahari, Nur Ismarrubie Makhtar, Ahmad Khushairy Ohka, Masahiro Basir, Siti Nora Tactile slippage analysis in optical three-axis tactile sensor for robotic hand |
| title | Tactile slippage analysis in optical three-axis tactile sensor for robotic hand |
| title_full | Tactile slippage analysis in optical three-axis tactile sensor for robotic hand |
| title_fullStr | Tactile slippage analysis in optical three-axis tactile sensor for robotic hand |
| title_full_unstemmed | Tactile slippage analysis in optical three-axis tactile sensor for robotic hand |
| title_short | Tactile slippage analysis in optical three-axis tactile sensor for robotic hand |
| title_sort | tactile slippage analysis in optical three-axis tactile sensor for robotic hand |
| url | http://psasir.upm.edu.my/id/eprint/35592/ http://psasir.upm.edu.my/id/eprint/35592/ http://psasir.upm.edu.my/id/eprint/35592/ http://psasir.upm.edu.my/id/eprint/35592/1/Tactile%20slippage%20analysis%20in%20optical%20three-axis%20tactile%20sensor%20for%20robotic%20hand.pdf |