tactile

机器触觉 §

方法概述 §

在执行抓取任务时的失败类型 §

• slippage
• unstable
• grasp failure

常用传感器类型 §

• FSR
• capacitive
• piezo-resistive
• barometric
• magnetic
• optical

数据处理方法 §

• friction-based
• vibration-based
  • 快速傅里叶变换 Fast Fourier Transform (FFT)
  • 离散小波变换Discrete Wavelet Transform (DWT)
• differentiation-based
• learning-based

review类paper §

A Review of Tactile Information: Perception and Action Through Touch §

• https://ieeexplore.ieee.org/document/9136877

A Brief Review Focused on Tactile Sensing for Stable Robot Grasping Manipulation §

• https://link.springer.com/chapter/10.1007/978-3-031-13835-5_57

tactile sensor §

Multimodal Tactile Sensor §

• BioTac paper: https://link.springer.com/chapter/10.1007/978-3-319-03017-3_19

slip detection §

Human-Inspired Robotic Grasp Control With Tactile Sensing §

• https://ieeexplore.ieee.org/abstract/document/5976472

数据底层/预处理方法 §

• Fingertip force SA-I nerve endings直接对指尖力求和
• Fingertip force disturbance FA-I, Hand vibration FA-II

Grip Stabilization of Novel Objects Using Slip Prediction §

• https://ieeexplore.ieee.org/abstract/document/8361482