Dynamically Reconfigurable Tactile Sensor for Robotic Manipulation

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Abstract
We present a new tactile sensor intended for manipulation by mobile robots, for example in the home. The surface consists of an array of small, rounded bumps or "nibs", which provide reliable traction on objects like wet dishes. When the nibs contact a surface they deflect, and capacitive sensors measure the corresponding local normal and shear forces. A key feature of the sensor is the ability to reconfigure dynamically depending on which combinations of sensing elements it samples. By interrogating different combinations of elements the sensor can detect and distinguish between linear and rotational sliding, and other dynamic events such as making and breaking contact. These dynamic events, combined with sensing the grasp and load forces, are useful for acquiring objects and performing simple in-hand manipulations. The proposed slip detection method estimates minimum required grasping force with an error less than 1.5N and uses tactile controlled rotational slips to reorient an unknown weight/surface object with 78% success rate.

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