Tactile sensing in dexterous robot hands — Review

Tactile sensing is an essential element of autonomous dexterous robot hand manipulation. It provides information about forces of interaction and surface properties at points of contact between the robot fingers and the objects. Recent advancements in robot tactile sensing led to development of many...

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Bibliographic Details
Published in:	Robotics and autonomous systems Vol. 74; pp. 195 - 220
Main Authors:	Kappassov, Zhanat, Corrales, Juan-Antonio, Perdereau, Véronique
Format:	Journal Article
Language:	English
Published:	Elsevier B.V 01.12.2015 Elsevier
Subjects:	Automatic Computer Science Dexterous manipulation Engineering Sciences Review Robot hands Robotics Tactile sensing Tactile sensing application Tactile sensors Review Tactile sensing Robot hands Tactile sensing application Tactile sensors Dexterous manipulation dexterous manipulation tactile sensing application tactile sensors review robot hands
ISSN:	0921-8890, 1872-793X
Online Access:	Get full text
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Abstract	Tactile sensing is an essential element of autonomous dexterous robot hand manipulation. It provides information about forces of interaction and surface properties at points of contact between the robot fingers and the objects. Recent advancements in robot tactile sensing led to development of many computational techniques that exploit this important sensory channel. This paper reviews current state-of-the-art of manipulation and grasping applications that involve artificial sense of touch and discusses pros and cons of each technique. The main issues of artificial tactile sensing are addressed. General requirements of a tactile sensor are briefly discussed and the main transduction technologies are analyzed. Twenty eight various tactile sensors, each integrated into a robot hand, are classified in accordance with their transduction types and applications. Previously issued reviews are focused on hardware part of tactile sensors, whereas we present an overview of algorithms and tactile feedback-based control systems that exploit signals from the sensors. The applications of these algorithms include grasp stability estimation, tactile object recognition, tactile servoing and force control. Drawing from advancements in tactile sensing technology and taking into consideration its drawbacks, this paper outlines possible new directions of research in dexterous manipulation. •We present a review of tactile sensing applications in dexterous robot hand manipulation.•This problem is key to dexterous manipulation, and no update reviews are available.•The main types of tactile sensors and their integration with robot hands are discussed.•An overview of tactile data processing techniques and its applications is presented.
AbstractList	Tactile sensing is an essential element of autonomous dexterous robot hand manipulation. It provides information about forces of interaction and surface properties at points of contact between the robot fingers and the objects. Recent advancements in robot tactile sensing led to development of many computational techniques that exploit this important sensory channel. This paper reviews current state-of-the-art of manipulation and grasping applications that involve artificial sense of touch and discusses pros and cons of each technique. The main issues of artificial tactile sensing are addressed. General requirements of a tactile sensor are briefly discussed and the main transduction technologies are analyzed. Twenty eight various tactile sensors, each integrated into a robot hand, are classified in accordance with their transduction types and applications. Previously issued reviews are focused on hardware part of tactile sensors, whereas we present an overview of algorithms and tactile feedback-based control systems that exploit signals from the sensors. The applications of these algorithms include grasp stability estimation, tactile object recognition, tactile servoing and force control. Drawing from advancements in tactile sensing technology and taking into consideration its drawbacks, this paper outlines possible new directions of research in dexterous manipulation. •We present a review of tactile sensing applications in dexterous robot hand manipulation.•This problem is key to dexterous manipulation, and no update reviews are available.•The main types of tactile sensors and their integration with robot hands are discussed.•An overview of tactile data processing techniques and its applications is presented. Tactile sensing is an essential element of autonomous dexterous robot hand manipulation. It provides information about forces of interaction and surface properties at points of contact between the robot fingers and the objects. Recent advancements in robot tactile sensing led to development of many computational techniques that exploit this important sensory channel. This paper reviews current state-of-the-art of manipulation and grasping applications that involve artificial sense of touch and discusses pros and cons of each technique. The main issues of artificial tactile sensing are addressed. General requirements of a tactile sensor are briefly discussed and the main transduction technologies are analyzed. Twenty eight various tactile sensors, each integrated into a robot hand, are classified in accordance with their transduction types and applications. Previously issued reviews are focused on hardware part of tactile sensors, whereas we present an overview of algorithms and tactile feedback-based control systems that exploit signals from the sensors. The applications of these algorithms include grasp stability estimation, tactile object recognition, tactile servoing and force control. Drawing from advancements in tactile sensing technology and taking into consideration its drawbacks, this paper outlines possible new directions of research in dexterous manipulation.
Author	Kappassov, Zhanat Perdereau, Véronique Corrales, Juan-Antonio
Author_xml	– sequence: 1 givenname: Zhanat orcidid: 0000-0003-3262-3993 surname: Kappassov fullname: Kappassov, Zhanat email: zhanat.kappassov@isir.upmc.fr organization: Institute of Intelligent Systems and Robotics, University of Pierre and Marie Curie, CC 173 - 4 Place Jussieu 75005, Paris, France – sequence: 2 givenname: Juan-Antonio surname: Corrales fullname: Corrales, Juan-Antonio email: juan.corrales@ifma.fr organization: Institut Francais de Mecanique Avancee, Campus de Clermont-Ferrand les Cezeaux BP265 63175 AUBIERE Cedex, France – sequence: 3 givenname: Véronique surname: Perdereau fullname: Perdereau, Véronique email: veronique.perdereau@upmc.fr organization: Institute of Intelligent Systems and Robotics, University of Pierre and Marie Curie, CC 173 - 4 Place Jussieu 75005, Paris, France
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Keywords	Review Tactile sensing Robot hands Tactile sensing application Tactile sensors Dexterous manipulation dexterous manipulation tactile sensing application tactile sensors review robot hands
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Snippet	Tactile sensing is an essential element of autonomous dexterous robot hand manipulation. It provides information about forces of interaction and surface...
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SubjectTerms	Automatic Computer Science Dexterous manipulation Engineering Sciences Review Robot hands Robotics Tactile sensing Tactile sensing application Tactile sensors
Title	Tactile sensing in dexterous robot hands — Review
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