Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks

Chris J Ford; Haoran Li; John A Lloyd; Manuel G. Catalano; Matteo Bianchi; Efi Psomopoulou; Nathan F Lepora

doi:10.1109/ICRA48891.2023.10161036

Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks

Chris J Ford
, Haoran Li
, John A Lloyd
, Manuel G. Catalano
, Matteo Bianchi
, Efi Psomopoulou
, Nathan F Lepora

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

15 Citations (Scopus)

Abstract

This paper presents a control scheme for force sensitive, gentle grasping with a Pisa/IIT anthropomorphic SoftHand equipped with a miniaturised version of the TacTip optical tactile sensor on all five fingertips. The tactile sensors provide high-resolution information about a grasp and how the fingers interact with held objects. We first describe a series of hardware developments for performing asynchronous sensor data acquisition and processing, resulting in a fast control loop sufficient for real-time grasp control. We then develop a novel grasp controller that uses tactile feedback from all five fingertip sensors simultaneously to gently and stably grasp 43 objects of varying geometry and stiffness, which is then applied to a human-to-robot handover task. These developments open the door to more advanced manipulation with underactuated hands via fast reflexive control using high-resolution tactile sensing.

Original language	English
Title of host publication	2023 IEEE International Conference on Robotics and Automation (ICRA)
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	10394-10400
Number of pages	7
ISBN (Electronic)	9798350323658
ISBN (Print)	9798350323665
DOIs	https://doi.org/10.1109/ICRA48891.2023.10161036
Publication status	Published - 4 Jul 2023
Event	2023 IEEE International Conference on Robotics and Automation, ICRA 2023 - London, United Kingdom Duration: 29 May 2023 → 2 Jun 2023

Publication series

Name
ISSN (Electronic)	2377-3766

Conference

Conference	2023 IEEE International Conference on Robotics and Automation, ICRA 2023
Country/Territory	United Kingdom
City	London
Period	29/05/23 → 2/06/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Access to Document

10.1109/ICRA48891.2023.10161036Licence: Unspecified

https://ieeexplore.ieee.org/document/10161036/Licence: Unspecified

Handle.net

Persistent link

The Tactile SoftHand: An Underactuated, Anthropomorphic Hand with a Biomimetic Sense of Touch: An Investigation Into Tactile-Driven Grasping and Manipulation with Underactuated Hands
Ford, C. J. (Author), Psomopoulou, E. (Supervisor) & Lepora, N. (Supervisor), 1 Oct 2024
Student thesis: Doctoral Thesis › Doctor of Philosophy (PhD)

File

Cite this

Ford, C. J., Li, H., Lloyd, J. A., Catalano, M. G., Bianchi, M., Psomopoulou, E., & Lepora, N. F. (2023). Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks. In 2023 IEEE International Conference on Robotics and Automation (ICRA) (pp. 10394-10400). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICRA48891.2023.10161036

@inproceedings{200bb62cc8f8411fbfc07c536d7323ae,

title = "Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks",

abstract = "This paper presents a control scheme for force sensitive, gentle grasping with a Pisa/IIT anthropomorphic SoftHand equipped with a miniaturised version of the TacTip optical tactile sensor on all five fingertips. The tactile sensors provide high-resolution information about a grasp and how the fingers interact with held objects. We first describe a series of hardware developments for performing asynchronous sensor data acquisition and processing, resulting in a fast control loop sufficient for real-time grasp control. We then develop a novel grasp controller that uses tactile feedback from all five fingertip sensors simultaneously to gently and stably grasp 43 objects of varying geometry and stiffness, which is then applied to a human-to-robot handover task. These developments open the door to more advanced manipulation with underactuated hands via fast reflexive control using high-resolution tactile sensing.",

author = "Ford, \{Chris J\} and Haoran Li and Lloyd, \{John A\} and Catalano, \{Manuel G.\} and Matteo Bianchi and Efi Psomopoulou and Lepora, \{Nathan F\}",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 ; Conference date: 29-05-2023 Through 02-06-2023",

year = "2023",

month = jul,

day = "4",

doi = "10.1109/ICRA48891.2023.10161036",

language = "English",

isbn = "9798350323665",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

pages = "10394--10400",

booktitle = "2023 IEEE International Conference on Robotics and Automation (ICRA)",

address = "United States",

}

Ford, CJ, Li, H, Lloyd, JA, Catalano, MG, Bianchi, M, Psomopoulou, E & Lepora, NF 2023, Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks. in 2023 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers (IEEE), pp. 10394-10400, 2023 IEEE International Conference on Robotics and Automation, ICRA 2023, London, United Kingdom, 29/05/23. https://doi.org/10.1109/ICRA48891.2023.10161036

Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks. / Ford, Chris J; Li, Haoran; Lloyd, John A et al.
2023 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers (IEEE), 2023. p. 10394-10400.

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

TY - GEN

T1 - Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks

AU - Ford, Chris J

AU - Li, Haoran

AU - Lloyd, John A

AU - Catalano, Manuel G.

AU - Bianchi, Matteo

AU - Psomopoulou, Efi

AU - Lepora, Nathan F

PY - 2023/7/4

Y1 - 2023/7/4

N2 - This paper presents a control scheme for force sensitive, gentle grasping with a Pisa/IIT anthropomorphic SoftHand equipped with a miniaturised version of the TacTip optical tactile sensor on all five fingertips. The tactile sensors provide high-resolution information about a grasp and how the fingers interact with held objects. We first describe a series of hardware developments for performing asynchronous sensor data acquisition and processing, resulting in a fast control loop sufficient for real-time grasp control. We then develop a novel grasp controller that uses tactile feedback from all five fingertip sensors simultaneously to gently and stably grasp 43 objects of varying geometry and stiffness, which is then applied to a human-to-robot handover task. These developments open the door to more advanced manipulation with underactuated hands via fast reflexive control using high-resolution tactile sensing.

AB - This paper presents a control scheme for force sensitive, gentle grasping with a Pisa/IIT anthropomorphic SoftHand equipped with a miniaturised version of the TacTip optical tactile sensor on all five fingertips. The tactile sensors provide high-resolution information about a grasp and how the fingers interact with held objects. We first describe a series of hardware developments for performing asynchronous sensor data acquisition and processing, resulting in a fast control loop sufficient for real-time grasp control. We then develop a novel grasp controller that uses tactile feedback from all five fingertip sensors simultaneously to gently and stably grasp 43 objects of varying geometry and stiffness, which is then applied to a human-to-robot handover task. These developments open the door to more advanced manipulation with underactuated hands via fast reflexive control using high-resolution tactile sensing.

U2 - 10.1109/ICRA48891.2023.10161036

DO - 10.1109/ICRA48891.2023.10161036

M3 - Conference Contribution (Conference Proceeding)

SN - 9798350323665

SP - 10394

EP - 10400

BT - 2023 IEEE International Conference on Robotics and Automation (ICRA)

PB - Institute of Electrical and Electronics Engineers (IEEE)

T2 - 2023 IEEE International Conference on Robotics and Automation, ICRA 2023

Y2 - 29 May 2023 through 2 June 2023

ER -

Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks

Abstract

Publication series

Conference

Bibliographical note

Access to Document

Handle.net

Fingerprint

Student theses

The Tactile SoftHand: An Underactuated, Anthropomorphic Hand with a Biomimetic Sense of Touch: An Investigation Into Tactile-Driven Grasping and Manipulation with Underactuated Hands

Cite this