Skip to content

Slip Detection with a Biomimetic Tactile Sensor

Research output: Contribution to journalArticle

Original languageEnglish
Pages (from-to)3340-3346
Number of pages7
JournalIEEE Robotics and Automation Letters
Volume3
Issue number4
Early online date4 Jul 2018
DOIs
DateAccepted/In press - 8 Jun 2018
DateE-pub ahead of print - 4 Jul 2018
DatePublished (current) - 1 Oct 2018

Abstract

Slip detection helps prevent robotic hands from dropping grasped objects and would thus enable complex object manipulation. Here we present a method of detecting slip with a biomimetic optical tactile sensor—the TacTip—that operates by measuring the positions of internal pins embedded in its compliant skin. We investigate whether local pin movement is a strong signal of slip. Accurate and robust discrimination between static and slipping objects is obtained with a support vector machine (accuracy 99.88%). We then demonstrate performance on a task in which a slipping object must be caught. For fast reaction times, a modified TacTip is made for high-speed data collection. Performance of the slip detection method is then validated under several test conditions, including varying the speed at which slip onset occurs and using novel shaped objects. The proposed methods should apply to tactile sensors that can detect the local velocities of surface movement. The sensor and slip detection methods are also well-suited for integration onto robotic hands for deploying slip control under manipulation.

Download statistics

No data available

Documents

Documents

  • Full-text PDF (final published version)

    Rights statement: This is the final published version of the article (version of record). It first appeared online via IEEE at https://doi.org/10.1109/LRA.2018.2852797 . Please refer to any applicable terms of use of the publisher.

    Final published version, 2 MB, PDF document

    Licence: CC BY

DOI

View research connections

Related faculties, schools or groups