接触の局所的な時空間差分情報を用いた軟性触覚センサアレイシステムによる物体の形状, 大きさ, 軟らかさの同時類別  [in Japanese] Study on Simultaneous Classification of Object Properties by Using Soft Tactile Sensor Array System Utilizing Local Spatial-temporal Information of Contact  [in Japanese]

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Author(s)

Abstract

This paper deals with simultaneous classification of shape, size, and softness of cylindrical objects by using soft tactile sensor array system of a five-links single robotic finger. The front surface of each link is covered with semicircular silicone rubber equipped with 235 small on-off switches. The on-off data from these switches obtained during grasping an object is transformed into a spatial-temporal matrix form. As 8 cells around the contact switch is considered useful to extract the local spatial-temporal character of contact physics, the frequency of the 8 cells patterns composed of 0-1 data around the switch contacted is obtained for each object and then used to form a contact-feature vector. This vector is obtained 10 times of experimental trial, corresponding to each object. The vectors are classified by Mahalanobis distance for 27 objects (3 shapes, 3 sizes and 3 kinds of softness) resulting in 48 grasping postures. By using the most effective 7 kinds of 8-cells patterns, over 95% classification accuracy is obtained.

Journal

  • Transactions of the Japan Society of Mechanical Engineers C

    Transactions of the Japan Society of Mechanical Engineers C 72(721), 2964-2971, 2006-09-25

    The Japan Society of Mechanical Engineers

References:  17

Cited by:  1

Codes

  • NII Article ID (NAID)
    110004811620
  • NII NACSIS-CAT ID (NCID)
    AN00187463
  • Text Lang
    JPN
  • Article Type
    Journal Article
  • ISSN
    03875024
  • NDL Article ID
    8521535
  • NDL Source Classification
    ZN11(科学技術--機械工学・工業)
  • NDL Call No.
    Z16-1056
  • Data Source
    CJP  CJPref  NDL  NII-ELS 
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