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Slip Detection in Robotic Hands with Flexible Parts

  • Conference paper
ROBOT2013: First Iberian Robotics Conference

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 253))

Abstract

It is well known that tactile sensing is of major importance in robots that interact with the environment. It provides relevant information for the robot to detect contacts with surfaces and manipulate objects. Flexible fingers have demonstrated its usefulness in the field. Due to their high flexibility they can detect contacts and can be safely used to control forces with high accuracy over any object. Among their advantages are low weight, low kinetic energy, low inertia, high flexibility, durability and resistance. In this paper, we demostrate how to take advantage of flexible links in order to detect slipping. We show how the same principle can be applied in force sensors based on flexible parts. In particular, we also show the slip detection with a simple and low cost sensor based on flexible beam deformation, with the finger torque sensor of the Barrett Hand, and with a 6 axis force sensor mounted in the wrist of an industrial robot.

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Author information

Authors and Affiliations

  1. E.T.S. Ingenieros Industriales, Universidad de Castilla La Mancha, Ciudad Real, Spain

    Raul Fernandez, Ismael Payo, Andres S. Vazquez & Jonathan Becedas

Authors
  1. Raul Fernandez
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  2. Ismael Payo
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  3. Andres S. Vazquez
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  4. Jonathan Becedas
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Corresponding author

Correspondence to Raul Fernandez .

Editor information

Editors and Affiliations

  1. CAR UPM-CSIC, Agencia Estatal Consejo Superior de Investigaciones Científicas (CSIC), Arganda del Rey, Spain

    Manuel A. Armada

  2. Universitat Politècnica de Catalunya (UPC), Barcelona, Spain

    Alberto Sanfeliu

  3. Universidad Politécnica de Madrid (UPM), Madrid, Spain

    Manuel Ferre

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© 2014 Springer International Publishing Switzerland

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Fernandez, R., Payo, I., Vazquez, A.S., Becedas, J. (2014). Slip Detection in Robotic Hands with Flexible Parts. In: Armada, M., Sanfeliu, A., Ferre, M. (eds) ROBOT2013: First Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 253. Springer, Cham. https://doi.org/10.1007/978-3-319-03653-3_13

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  • DOI: https://doi.org/10.1007/978-3-319-03653-3_13

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-03652-6

  • Online ISBN: 978-3-319-03653-3

  • eBook Packages: EngineeringEngineering (R0)

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