@article{2382a8b537b84fb9a133a5e725b4e42b,
title = "Finger contact sensing and the application in dexterous hand manipulation",
abstract = "In this paper we introduce a novel contact-sensing algorithm for a robotic fingertip which is equipped with a 6-axis force/torque sensor and covered with a deformable rubber skin. The design and the sensing algorithm of the fingertip for effective contact information identification are introduced. Validation tests show that the contact sensing fingertip can estimate contact information, including the contact location on the fingertip, the direction and the magnitude of the friction and normal forces, the local torque generated at the surface, at high speed (158–242 Hz) and with high precision. Experiments show that the proposed algorithm is robust and accurate when the friction coefficient $$\le $$≤1. Obtaining such contact information in real-time are essential for fine object manipulation. Using the contact sensing fingertip for surface exploration has been demonstrated, indicating the advantage gained by using the identified contact information from the proposed contact-sensing method.",
keywords = "Contact sensing for deformable fingertip, Surface following control, Tactile sensing",
author = "Hongbin Liu and Nguyen, {Kien Cuong} and V{\'e}ronique Perdereau and Joao Bimbo and Junghwan Back and Matthew Godden and Seneviratne, {Lakmal D.} and Kaspar Althoefer",
note = "Funding Information: The work presented in this paper has been done in collaboration between King{\textquoteright}s College London (KCL), Universit{\'e} Pierre et Marie Curie (UPMC) and Shadow Robot Company (Shadow) within the HANDLE project (grant agreement ICT 231640). KCL has contributed on the fingertip contact sensing algorithm, Shadow has contributed in the fingertip design and fabrication and UPMC has contributed on the finger force feedback control and the object surface exploration using the contact information identified by the fingertip. The object pose estimation using the finger has been done by KCL with contribution from UPMC. Funding Information: This research received support provided by the HANDLE project funded by the European Commission within the Seventh Framework Programme FP7 (FP7/2007-2013) under Grant Agreement ICT 231640. Publisher Copyright: {\textcopyright} 2015, Springer Science+Business Media New York.",
year = "2015",
month = jun,
day = "1",
doi = "10.1007/s10514-015-9425-4",
language = "British English",
volume = "39",
pages = "25--41",
journal = "Autonomous Robots",
issn = "0929-5593",
publisher = "Springer Netherlands",
number = "1",
}