Analysis and design of a new piezoresistive tactile sensor system for robotic applications

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1994 (EN)
Analysis and design of a new piezoresistive tactile sensor system for robotic applications (EN)

Hatzivasiliou, FV (EN)
Tzafestas, SG (EN)

N/A (EN)

The development of an experimental tactile sensor system fitted on a robot work-table is analyzed in this paper. In the first stage of this research a 16 × 16 piezoresistive sensor was used, attached on the work-table of an ASEA IRB-2000 robot. The keypoint of the above design is that the sensor is not used just to obtain texture information, as it is happens when it is fitted on the gripper, but also to obtain tactile data from the object nonvisible base-surface and finally the object weight. The experimental system is designed so as to allow variation in the design parameters to determine the best set of parameter values for optimal performance of the sensor. Experiments carried out show the operability of the above system and, furthermore, the advantages using this sensor topology. © 1994 Kluwer Academic Publishers. (EN)


Parameter estimation (EN)
Design parameters (EN)
Object nonvisible base surface (EN)
Worktable sensor (EN)
robotic system (EN)
Matrix algebra (EN)
Sensor topology (EN)
Hybrid sensors (EN)
Electric network topology (EN)
Sensing tactile elements (EN)
Optimal control systems (EN)
Tactile sensor system (EN)
Optimal performance (EN)
Piezoelectric devices (EN)
Electric conductivity (EN)
Robot applications (EN)
Transducers (EN)
piezoresistive sensor (EN)
Shape analysis (EN)
worktable sensor (EN)
Pattern recognition (EN)
Object recognition (EN)
Piezoresistive tactile sensor system (EN)
Performance (EN)
Human tactile perception system (EN)
Variational techniques (EN)

Εθνικό Μετσόβιο Πολυτεχνείο (EL)
National Technical University of Athens (EN)

Journal of Intelligent & Robotic Systems (EN)


Kluwer Academic Publishers (EN)

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