Titelaufnahme
Titelaufnahme
- TitelUsing a Piezo-Resistive Tactile Sensor for Detection of Incipient Slippage
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- Erschienen
- SpracheEnglisch
- DokumenttypKonferenzband
- ISBN978-3-8007-3273-9
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Abstract
The detection of incipient slip is an important cornerstone in tactile based grasping. In this paper, we present an approach to detect incipient slip using a fast piezo-resistive, yet static tactile sensor pad. Our approach renders special slip sensors obsolete and therefore enables static and dynamic sensing with one sensing mechanism. For the detection of the slip, a fast fourier transform is used to pre-process the data. In a subsequent step, a standard artificial neural net is trained on the data from the frequency domain to detect slippage, as well as to discriminate different surface textures.
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