Elsevier

Advances in Computers

Volume 35, 1992, Pages 81-134
Advances in Computers

Computational Approaches for Tactile Information Processing and Analysis*

https://doi.org/10.1016/S0065-2458(08)60594-XGet rights and content

Publisher Summary

This chapter reviews various tactile data processing techniques adopted so far. Tactile information is quite valuable while performing tasks such as object recognition, grasping, or surface exploration. A systematic presentation of the robotic tactile perception capability should include discussion of two important issues. The first one is associated with the tactile sensor hardware; and the second one deals with the computational approaches for extracting useful information from tactile sensors. In this chapter, the emphasis is on the second aspect. The chapter discusses about the issues involved in endowing tactual or touch sensing capability to robots. The chapter reviews some of the issues affecting tactile sensing, the choice of techniques, and the extent of processing required. Static or passive tactile sensing approach is elaborated. The chapter discusses the active tactile sensing approach or dynamic sensing that is more common to humans. The chapter presents some experimental results showing the effectiveness of tactile sensing for object recognition.

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    *

    This research was supported by the DOE's University Program in Robotics for Advanced Reactors (Universities of Florida, Michigan, Tennessee, Texas, and the Oak Ridge National Laboratory) under Grant No. DOE DE-FG02-86NE37968.

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