TY  - JOUR
AB  - Tactile sensing is a key sensor modality for robots interacting with their surroundings. These sensors provide a rich and diverse set of data signals that contain detailed information collected from contacts between the robot and its environment. The data are however not limited to individual contacts and can be used to extract a wide range of information about the objects in the environment as well as the actions of the robot during the interactions. In this article, we provide an overview of tactile information and its applications in robotics. We present a hierarchy consisting of raw, contact, object, and action levels to structure the tactile information, with higher-level information often building upon lower-level information. We discuss different types of information that can be extracted at each level of the hierarchy. The article also includes an overview of different types of robot applications and the types of tactile information that they employ. Finally we end the article with a discussion for future tactile applications which are still beyond the current capabilities of robots.
DA  - 2020
DO  - 10.1109/TRO.2020.3003230
KW  - Tactile sensors
KW  - Force
KW  - Vibrations
KW  - Data mining
KW  - Grasping
KW  - human–
KW  - robot interaction (HRI)
KW  - in-hand manipulation
KW  - interactive perception
KW  - locomotion
KW  - nonprehensile manipulation
KW  - tactile exploration
KW  - tactile
KW  - sensing
KW  - tool manipulation
KW  - whole body manipulation
LA  - eng
IS  - 6
M2  - 1619
PY  - 2020
SN  - 1552-3098
SP  - 1619-1634
T2  - IEEE Transactions on Robotics
TI  - A Review of Tactile Information: Perception and Action Through Touch
UR  - https://nbn-resolving.org/urn:nbn:de:0070-pub-29502333
Y2  - 2024-11-22T03:27:56
ER  -