Design of a Multimodal Fingertip Sensor for Dynamic Manipulation
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2209.11368v1.pdf
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Author(s)
SaLoutos, Andrew
Stanger-Jones, Elijah
Guo, Menglong
Kim, Hongmin
Kim, Sangbae
Date Issued
May 29, 2023
Journal
2023 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
IEEE
Citation
SaLoutos, Andrew, Stanger-Jones, Elijah, Guo, Menglong, Kim, Hongmin and Kim, Sangbae. 2023. "Design of a Multimodal Fingertip Sensor for Dynamic Manipulation." 2023 IEEE International Conference on Robotics and Automation (ICRA).
Version
Author's final manuscript
Abstract
We introduce a spherical fingertip sensor for dynamic manipulation. It is based on barometric pressure and time-of-flight proximity sensors and is low-latency, compact, and physically robust. The sensor uses a trained neural network to estimate the contact location and three-axis contact forces based on data from the pressure sensors, which are embedded within the sensor’s sphere of polyurethane rubber. The timeof-flight sensors face in three different outward directions, and an integrated microcontroller samples each of the individual sensors at up to 200 Hz. To quantify the effect of system latency on dynamic manipulation performance, we develop and analyze a metric called the collision impulse ratio and characterize the end-to-end latency of our new sensor. We also present experimental demonstrations with the sensor, including measuring contact transitions, performing coarse mapping, maintaining a contact force with a moving object, and reacting to avoid collisions.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1109/icra48891.2023.10160256
