Tactile Sensing for Stable Grasp
An experimental tactile sensor array, made with piezoelectric polymer elements able to measure the six component of the stress tensor, is described. The capability of the sensor to perform difficult task of robotic manipulations, such as shape recognition and incipient slippage detection, is discussed and demonstrated with examples.
KeywordsContact Interface Inversion Algorithm Sensor Plane Slip Region Stable Grasp
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