Detection of incipient object slippage by skin-like sensing and neural network processing

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 28, Issue 3, 1998, Pages 348-356

  Canepa, Gaetano ^a   Petrigliano, Rocco ^a   Campanella, Matteo ^a   De Rossi, Danilo ^a  

^a UNIVERSITY OF PISA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

APPROXIMATION THEORY; COMPUTER SIMULATION; FINITE ELEMENT METHOD; FRICTION; GRIPPERS; MANIPULATORS; NEURAL NETWORKS; SENSORS; SHEAR STRESS;

INCIPIENT OBJECT SLIPPAGE; SKIN LIKE SENSORS;

ROBOTICS;

EID: 0032099147     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/3477.678629     Document Type: Article

References (18)

1. A. Bicchi, "Intrinsic contact sensing for soft fingers," in Proc. IEEE Int. Conf. Robotics Automation, Cincinnati, OH, 1990, vol. 2, pp. 968-973,
2. A. Bicchi, J. K. Salisbury, and D. L. Brock, "Experimental evaluation of friction characteristics with an articulated robotic hand," in Proc. Int. Symp. Experimental Robotics, Toulouse, France, 1991.
3. R. D. Howe, I. Kao, and M. R. Cutkosky, "The sliding of robot fingers under combined torsion and shear loading," in Proc. IEEE Int. Conf. Robotics Automation, 1988, pp. 103-105.
4. R. D. Howe and M. R. Cutkosky, "Sensing skin acceleration for slip and texture perception," in Proc. IEEE Int. Conf. Robotics Automation, Scottsdale, AZ, 1989, vol. 1, pp. 145-150.
5. M. R. Tremblay and M. R. Cutkosky, "Estimation friction using incipient slip sensing during a manipulation task," in Proc. IEEE Int. Conf. Robotics Automation, Atlanta, GA, 1993, vol. 1, pp. 429-434.
6. R. S. Johansson and G. Westling, "Tactile afferent signals in the control of precision grip," Atten. Perform., vol. 13, pp. 677-713, 1990.
7. J. G. Webster, Tactile Sensors for Robotics and Medicine. New York: Wiley, 1988.
8. G. Canepa, M. Campanella, and D. De Rossi, "Slip detection by a tactile neural network," in Proc. IEEE Int. Conf. IROS, Munich, Germany, Sept. 1994, vol. 1, pp. 224-231.
9. G. Canepa, M. Morabito, D. De Rossi, A. Caiti, and T. Parisini, "Shape from touch by a neural net," in Proc. IEEE Int. Conf. Robotics Automation, Nice, France, 1992, pp. 2075-2080.
10. A. Caiti, G. Canepa, D. De Rossi, F. Germagnoli, G. Magenes, and T. Parisini, "Toward the realization of an artificial tactile system: Fine-form discrimination by a tensorial tactile sensor array and neural inversion algorithms," IEEE Trans. Syst., Man, Cybern., vol. 25, pp. 933-946, June 1995.
11. K. L. Johnson, Contact Mechanics. Cambridge, U.K.: Cambridge Univ. Press, 1985.
12. A. Caiti, G. Canepa, and D. De Rossi, "Tactile sensing for stable grasp," in Engineering Systems with Intelligence, S. G. Tzafestas, Ed. Amsterdam, The Netherlands: Kluwer, 1991, pp. 257-264.
13. D. De Rossi, G. Canepa, F. Germagnoli, G. Magenes, A. Caiti, and T. Parisini, "Skin-like tactile sensor arrays for contact stress field extraction," Mater. Sci. Eng., vol. 1, pp. 23-36, 1993.
14. B. Widrow and M. L. Lehr, "30 years of adaptive neural networks: Perceptron, madaline and backpropagation," Proc. IEEE, vol. 78, pp. 1415-1442, Sept. 1990.
15. Y. C. Pati, P. S. Krishnaprasad, and M. C. Peckerar, "An analog neural network solution to the inverse problem of 'early taction'," IEEE Trans. Robot. Automat., vol. 8, no. 2, pp. 196-211, 1992.
16. J. L. McClelland and D. E. Rumelhart, Explorations in Parallel Distributed Processing. Cambridge, MA: MIT Press, 1988.
17. A. R. Barron, "Universal approximation bound for superposition of a sigmoidal function," IEEE Trans. Inform. Theory, vol. 39, pp. 930-945, 1993.
18. C. C. Klimasauskas and J. P. Guiver, NeuralWorks Networks I, Neuralware Inc., 1988.