Study on Simultaneous Classification of Object Properties by Using Soft Tactile Sensor Array System Utilizing Local Spatial-temporal Information of Contact
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- WATANABE Kenshi
- Department of Mechanical Engineering, Tokyo University of Science
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- OHKUBO Kenichi
- Department of Mechanical Engineering, Tokyo University of Science
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- ICHIKAWA Sumiaki
- 諏訪東京理科大学システム工学部
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- HARA Fumio
- 東京理科大学工学部
Bibliographic Information
- Other Title
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- 接触の局所的な時空間差分情報を用いた軟性触覚センサアレイシステムによる物体の形状,大きさ,軟らかさの同時類別
Abstract
This paper deals with simultaneous classification of shape, size, and softness of cylindrical objects by using soft tactile sensor array system of a five-links single robotic finger. The front surface of each link is covered with semicircular silicone rubber equipped with 235 small on-off switches. The on-off data from these switches obtained during grasping an object is transformed into a spatial-temporal matrix form. As 8 cells around the contact switch is considered useful to extract the local spatial-temporal character of contact physics, the frequency of the 8 cells patterns composed of 0-1 data around the switch contacted is obtained for each object and then used to form a contact-feature vector. This vector is obtained 10 times of experimental trial, corresponding to each object. The vectors are classified by Mahalanobis distance for 27 objects (3 shapes, 3 sizes and 3 kinds of softness) resulting in 48 grasping postures. By using the most effective 7 kinds of 8-cells patterns, over 95% classification accuracy is obtained.
Journal
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- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 72 (721), 2964-2971, 2006
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390282681365025920
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- NII Article ID
- 130004236170
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- ISSN
- 18848354
- 03875024
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed