Augmenting off-the-shelf grippers with tactile sensing
- Author
- Remko Proesmans (UGent) and Francis wyffels (UGent)
- Organization
- Project
- Abstract
- The development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack tactile feedback, which has led researchers to develop and integrate their own tactile sensors. This has resulted in a wide range of sensor hardware, making it difficult to compare performance between different systems. We highlight the value of accessible open-source sensors and present a set of fingertips specifically designed for fine object manipulation, with readily interpretable data outputs. The fingertips are validated through two difficult tasks: cloth edge tracing and cable tracing. Videos of these demonstrations, as well as design files and readout code can be found at https://github.com/RemkoPr/icra-2023-workshop-tactile-fingertips.
Downloads
-
DS642.pdf
- full text (Accepted manuscript)
- |
- open access
- |
- |
- 3.37 MB
Citation
Please use this url to cite or link to this publication: http://hdl.handle.net/1854/LU-01H3C4RCYQ62M3ZBV50CJ0SHJ1
- MLA
- Proesmans, Remko, and Francis wyffels. “Augmenting Off-the-Shelf Grippers with Tactile Sensing.” ICRA 2023 : The International Conference on Robotics and Automation, Proceedings, 2023, doi:10.48550/arXiv.2306.05902.
- APA
- Proesmans, R., & wyffels, F. (2023). Augmenting off-the-shelf grippers with tactile sensing. ICRA 2023 : The International Conference on Robotics and Automation, Proceedings. Presented at the 2023 International Conference on Robotics and Automation (ICRA 2023), London, UK. https://doi.org/10.48550/arXiv.2306.05902
- Chicago author-date
- Proesmans, Remko, and Francis wyffels. 2023. “Augmenting Off-the-Shelf Grippers with Tactile Sensing.” In ICRA 2023 : The International Conference on Robotics and Automation, Proceedings. https://doi.org/10.48550/arXiv.2306.05902.
- Chicago author-date (all authors)
- Proesmans, Remko, and Francis wyffels. 2023. “Augmenting Off-the-Shelf Grippers with Tactile Sensing.” In ICRA 2023 : The International Conference on Robotics and Automation, Proceedings. doi:10.48550/arXiv.2306.05902.
- Vancouver
- 1.Proesmans R, wyffels F. Augmenting off-the-shelf grippers with tactile sensing. In: ICRA 2023 : the International Conference on Robotics and Automation, Proceedings. 2023.
- IEEE
- [1]R. Proesmans and F. wyffels, “Augmenting off-the-shelf grippers with tactile sensing,” in ICRA 2023 : the International Conference on Robotics and Automation, Proceedings, London, UK, 2023.
@inproceedings{01H3C4RCYQ62M3ZBV50CJ0SHJ1,
abstract = {{The development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack tactile feedback, which has led researchers to develop and integrate their own tactile sensors. This has resulted in a wide range of sensor hardware, making it difficult to compare
performance between different systems. We highlight the value of accessible open-source sensors and present a set of fingertips specifically designed for fine object manipulation, with readily interpretable data outputs. The fingertips are validated through two difficult tasks: cloth edge tracing and cable tracing. Videos of these demonstrations, as well as design files and readout code can be found at https://github.com/RemkoPr/icra-2023-workshop-tactile-fingertips.}},
author = {{Proesmans, Remko and wyffels, Francis}},
booktitle = {{ICRA 2023 : the International Conference on Robotics and Automation, Proceedings}},
language = {{eng}},
location = {{London, UK}},
pages = {{4}},
title = {{Augmenting off-the-shelf grippers with tactile sensing}},
url = {{http://doi.org/10.48550/arXiv.2306.05902}},
year = {{2023}},
}
- Altmetric
- View in Altmetric