Relative movement evaluation between developed distributed-type tactile sensor and the contacting object

Abstract

This paper describes an output algorithm that measures forces and moment acting on a developed distributed-type tactile sensor and evaluates relative movement with the contacting object. To realize advanced manipulation, it is necessary to acquire forces and moments acting on the fingertips of the robot hand; it is also necessary to evaluate the relative movement between the contacting object and the sensor. An output algorithm for evaluating the relative movement for developed tactile sensor was created whose effectiveness was shown by experiments.