Tactile Servo Based on Pressure Distribution

Chen-Ting Wen; Jun Kinugawa; Shogo Arai; Kazuhiro Kosuge

doi:10.1109/ICMA.2019.8816505

Tactile Servo Based on Pressure Distribution

Chen-Ting Wen
, Jun Kinugawa
, Shogo Arai
, Kazuhiro Kosuge

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

4 Citations (Scopus)

Abstract

Tactile sensation is an important perception to enable humans to observe the environment by touch. Then efficient and suitable actions can be performed by the feedback of tactile sensation. In order to acquire human-like dexterity, robot manipulation by tactile sensation, tactile servo, was proposed and developed. In this paper, we propose a new idea for processing tactile images to refine tactile servo, utilizing whole pressure distribution instead of specific tactile features. To validate the feasibility of the proposed method in this paper, experiments were conducted by using the tactile sensing array mounted on the robot to move on the specific object, and the performance is assessed by the normalized cross correlation (NCC). Moreover, comparison with previous method was carried out. The feasibility of tactile servo based on pressure distribution is verified. © 2019 IEEE.

Original language	English
Title of host publication	2019 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2019
Publisher	IEEE
Pages	868-873
Number of pages	6
ISBN (Electronic)	9781728116990
ISBN (Print)	9781728116983
DOIs	https://doi.org/10.1109/ICMA.2019.8816505
Publication status	Published - 2019
Externally published	Yes
Event	16th IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2019) - Tianjin, China Duration: 4 Aug 2019 → 7 Aug 2019

Publication series

Name	Proceedings of IEEE International Conference on Mechatronics and Automation, ICMA
ISSN (Print)	2152-7431
ISSN (Electronic)	2152-744X

Conference

Conference	16th IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2019)
Abbreviated title	ICMA 2019
Place	China
City	Tianjin
Period	4/08/19 → 7/08/19

Funding

This work was supported by JSPS KAKENHI, Grant Number 16H04292.

Research Keywords

pressure distribution
tactile feature
tactile servo

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10.1109/ICMA.2019.8816505

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@inproceedings{73b77f9d5c904946968621245a6cd63e,

title = "Tactile Servo Based on Pressure Distribution",

abstract = "Tactile sensation is an important perception to enable humans to observe the environment by touch. Then efficient and suitable actions can be performed by the feedback of tactile sensation. In order to acquire human-like dexterity, robot manipulation by tactile sensation, tactile servo, was proposed and developed. In this paper, we propose a new idea for processing tactile images to refine tactile servo, utilizing whole pressure distribution instead of specific tactile features. To validate the feasibility of the proposed method in this paper, experiments were conducted by using the tactile sensing array mounted on the robot to move on the specific object, and the performance is assessed by the normalized cross correlation (NCC). Moreover, comparison with previous method was carried out. The feasibility of tactile servo based on pressure distribution is verified. {\textcopyright} 2019 IEEE.",

keywords = "pressure distribution, tactile feature, tactile servo",

author = "Chen-Ting Wen and Jun Kinugawa and Shogo Arai and Kazuhiro Kosuge",

year = "2019",

doi = "10.1109/ICMA.2019.8816505",

language = "English",

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series = "Proceedings of IEEE International Conference on Mechatronics and Automation, ICMA",

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booktitle = "2019 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2019",

address = "United States",

note = "16th IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2019), ICMA 2019 ; Conference date: 04-08-2019 Through 07-08-2019",

}

Wen, C-T, Kinugawa, J, Arai, S & Kosuge, K 2019, Tactile Servo Based on Pressure Distribution. in 2019 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2019., 8816505, Proceedings of IEEE International Conference on Mechatronics and Automation, ICMA, IEEE, pp. 868-873, 16th IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2019), Tianjin, China, 4/08/19. https://doi.org/10.1109/ICMA.2019.8816505

Tactile Servo Based on Pressure Distribution. / Wen, Chen-Ting; Kinugawa, Jun; Arai, Shogo et al.
2019 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2019. IEEE, 2019. p. 868-873 8816505 (Proceedings of IEEE International Conference on Mechatronics and Automation, ICMA).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Tactile Servo Based on Pressure Distribution

AU - Wen, Chen-Ting

AU - Kinugawa, Jun

AU - Arai, Shogo

AU - Kosuge, Kazuhiro

PY - 2019

Y1 - 2019

N2 - Tactile sensation is an important perception to enable humans to observe the environment by touch. Then efficient and suitable actions can be performed by the feedback of tactile sensation. In order to acquire human-like dexterity, robot manipulation by tactile sensation, tactile servo, was proposed and developed. In this paper, we propose a new idea for processing tactile images to refine tactile servo, utilizing whole pressure distribution instead of specific tactile features. To validate the feasibility of the proposed method in this paper, experiments were conducted by using the tactile sensing array mounted on the robot to move on the specific object, and the performance is assessed by the normalized cross correlation (NCC). Moreover, comparison with previous method was carried out. The feasibility of tactile servo based on pressure distribution is verified. © 2019 IEEE.

AB - Tactile sensation is an important perception to enable humans to observe the environment by touch. Then efficient and suitable actions can be performed by the feedback of tactile sensation. In order to acquire human-like dexterity, robot manipulation by tactile sensation, tactile servo, was proposed and developed. In this paper, we propose a new idea for processing tactile images to refine tactile servo, utilizing whole pressure distribution instead of specific tactile features. To validate the feasibility of the proposed method in this paper, experiments were conducted by using the tactile sensing array mounted on the robot to move on the specific object, and the performance is assessed by the normalized cross correlation (NCC). Moreover, comparison with previous method was carried out. The feasibility of tactile servo based on pressure distribution is verified. © 2019 IEEE.

KW - pressure distribution

KW - tactile feature

KW - tactile servo

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DO - 10.1109/ICMA.2019.8816505

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781728116983

T3 - Proceedings of IEEE International Conference on Mechatronics and Automation, ICMA

SP - 868

EP - 873

BT - 2019 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2019

PB - IEEE

T2 - 16th IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2019)

Y2 - 4 August 2019 through 7 August 2019

ER -

Tactile Servo Based on Pressure Distribution

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