Tactile Sensing for Stable Grasp

  • A. Caiti
  • G. Canepa
  • D. De Rossi
Part of the Microprocessor-Based and Intelligent Systems Engineering book series (ISCA, volume 9)


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.


Contact Interface Inversion Algorithm Sensor Plane Slip Region Stable Grasp 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer Science+Business Media Dordrecht 1991

Authors and Affiliations

  • A. Caiti
    • 1
    • 2
  • G. Canepa
    • 1
    • 2
  • D. De Rossi
    • 1
    • 2
  1. 1.Centro “E. Piaggio”University of PisaItaly
  2. 2.DISTUniversity of GenovaItaly

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