Intelligent haptic sensor system for robotic manipulation

IEEE Transactions on Instrumentation and Measurement

Volumn 54, Issue 4, 2005, Pages 1583-1592

  Payeur, Pierre ^a   Pasca, Codrin ^a   Cretu, Ana Maria ^a   Petriu, Emil M ^a  

^a UNIVERSITY OF OTTAWA   (Canada)

Author keywords

Haptics; Laser measurement applications; Microprocessors applications; Neural networks; Object recognition; Robot tactile systems

Indexed keywords

CONTACT SENSORS; END EFFECTORS; FEATURE EXTRACTION; HAPTIC INTERFACES; LASER APPLICATIONS; MANIPULATORS; NEURAL NETWORKS; OBJECT RECOGNITION;

HAPTICS; LASER MEASUREMENT APPLICATIONS; MICROPROCESSORS APPLICATIONS; ROBOT TACTILE SYSTEMS;

ROBOTICS;

EID: 23344449143     PISSN: 00189456     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIM.2005.851422     Document Type: Article

References (30)

1. S. F. El-Hakim, J.-A Beraldin, G. Godin, and P. Boulanger, "Two 3-D sensors for environment modeling and virtual reality: Calibration and multiview registration," Int. Arch. Photogrammetry Remote Sens., vol. 31, pp. 140-146, 1996.
2. R. Y. Tsai, "A versatile camera calibration technique for high-accuracy 3-D machine vision metrology using off-the shelf TV cameras and lenses," IEEE J. Robot. Autom., vol. RA-3, no. 4, pp. 323-344, Aug. 1987.
3. L. G. Shapiro and G. C. Stockman, Computer Vision. Englewood Cliffs, NJ: Prentice-Hall, 2001.
4. M. Rioux, "Laser rangefinder based on synchronized scanning," Appl. Opt., vol. 23, pp. 3837-3844, 1985.
5. E. Trucco and A. Verri, Introductory Techniques for 3-D Computer Vision. Englewoods Cliffs, NJ: Prentice-Hall, 1998.
6. G. Canepa, O. Sottile, and D. De Reuse, "Extraction of cutaneous primitives from tactile sensor images," in Proc. IEEE Int. Conf. Systems, Man and Cybernetics, vol. 3, 1994, pp. 2641-2646.
7. R. D. Howe, W. Peine, D. A. Kontarinis, and J. S. Son, "Remote palpation technology," IEEE Eng. Med. Biol. Mag., vol. 14, no. 3, pp. 318-323, May/Jun. 1998.
8. H. Tobita, T. Kawamure, Y. Sugimoto, and H. Nakamura, "The development of 'safe partner equipment'," in Proc. IEEE Int. Conf. Robotics and Automation, Nagoya, Japan, 1995, pp. 2420-2426.
9. T. Itoh, K. Kosuge, and T. Fukuda, "Human-Machine cooperative telemanipulation with motion and force scaling using task-oriented virtual tool dynamics," IEEE Trans. Robot. Autom., vol. 16, no. 5, pp. 505-516, Oct. 2000.
10. R. D. Howe and M. R. Cutkosky, "Dynamic tactile sensing - Perception of fine surface-features with stress rate sensing," IEEE Trans. Robot. Autom., vol. 9, no. 2, pp. 140-151, Apr. 1993.
11. D. Johnston, P. Zhang, J. Hollerbach, and S. Jacobsen, "A full tactile sensing suite for dexterous robot hands and use in contact force control," in Proc. IEEE Int. Conf. Robotics and Automation, Minneapolis, MN, 1996, pp. 3222-3227.
12. H. Zhan and N. N. Chen, "Control of contact via tactile sensing," IEEE Trans. Robot. Autom., vol. 16, no. 5, pp. 482-495, Oct. 2000.
13. F. Germagnoli and G. Magenes, "A neural network-based system for tactile exploratory tasks," in Proc. Int. Workshop Neural Networks for Identification, Control, Robotics, and Signal/Image Processing, 1996, pp. 458-466.
14. J. L. Pedreno-Molina, A. Guerrero-Gonzalez, and J. Lopez-Coronado, "A neural controller for a robotic hand with artificial tactile skins in grasping tasks," in Proc. IEEE Int. Conf. Systems, Man and Cybernetics, vol. 1, Apr. 2000, pp. 161-165.
15. D. Taddeucci, C. Laschi, R. Lazzarini, R. Magni, P. Dario, and A. Starita, "An approach to integrated tactile perception," in Proc. IEEE Int. Conf. Robotics and Automation, Albuquerque, NM, 1997, pp. 3100-3105.
16. T. Fischer, D. Rapela, and H. Woern, "Joint controller for the objectpose controlling on multifinger grippers," in Proc. Int. Conf. Advanced Intelligent Mechatronics, 1999, pp. 422-427.
17. M. H. Lee and H. R. Nicholls, "Tactile sensing for mechatronics - A state of the art survey," in Mechatronics. New York: Pergamon, 1999, pp. 1-31.
18. C. S. Tzafestas, "Whole-hand kinesthetic feedback and haptic perception in dexterous virtual manipulation," IEEE Trans. Syst., Man, Cybern. A, Syst., Humans, vol. 33, no. 1., pp. 100-113, Jan. 2003.
19. S. J. Lederman, R. L. Klatzky, and D. T. Pawluk, "Lessons from the study of biological touch for robotic haptic sensing," in Advanced Tactile Sensing for Robotics, H. R. Nicholls, Ed. Singapore: World Scientific, 1992.
20. F. Castelli, "An integrated tactile-thermal robot sensor with capacitive tactile array," IEEE Trans. Ind. Appl., vol. 38, no. 1, pp. 85-90, Jan./Feb. 2002.
21. E. Petriu, W. S. McMath, S. K. Yeung, and N. Trif, "Active tactile perception of object surface geometric profiles," IEEE Trans. Instrum. Meas., vol. 41, no. 1, pp. 87-92, Feb. 1992.
22. R. Yang and P. S. Krishnaprasad, "Tactile sensing and inverse problems," Elect. Eng. Dept. and System Res. Center, Univ. Maryland, College Park, MD, 1988.
23. R. E. Saad, A. Bonen, K. C. Smith, and B. Benhabib, "Distributed-force recovery for a planar photoelastic tactile sensor," IEEE Trans. Instrum. Meas., vol. 45, no. 2, pp. 541-546, Apr. 1996.
24. T. H. Speeter, "A tactile sensing system for robotic manipulation," Int. J. Robot. Res., vol. 9, no. 6, pp. 25-36, 1990.
25. Y. C. Pati, P. S. Krisnaprasad, and M. C. Peckerar, "An analog neural network solution to the inverse problem of early taction," IEEE Trans. Robot. Autom., vol. 8, no. 2, pp. 196-212, Apr. 1992.
26. R. Q. Yang and M. W. Siegel, "A finger-tip optical sensor array sorting system," in Proc. Sensors Conf., 1995, CASA/SME Tech. Paper MS85-991, pp. 1-11.
27. A. W. De Groot, "Effect of sensor size in robotic tactile sensor arrays," Robotica, vol. 6, pp. 285-287, 1988.
28. E. M. Petriu, T. Bieseman, N. Trif, W. S. McMath, and W. S. Yeung, "Visual object recognition using pseudorandom grid encoding," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, vol. 3, 1992, pp. 1617-1624.
29. E.M. Petriu, S. K. S. Yeung, S. R. Das, and H. J. W. Spoelder, "Robotic tactile recognition of pseudorandom encoded objects," in Proc. IEEE Int. Conf. Instrumentation and Measurement, Vail, CO, 2003, pp. 1397-1401.
30. Jupiter 3-D Laser Vision Camera Installation and Operation Manual, Servo-Robot Inc., St-Bruno, QC, Canada, 1996.