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Flexible Tactile Sensors for Multidigital Dexterous In-hand Manipulation

Abstract : This chapter reviews the current state of the art in flexible tactile force and pressure sensing within the specific context of dexterous in-hand manipulation, taking into account the specific context of multi-digital dexterous manipulation, in comparison to grasping. It focuses on models describing human hand activity and movements. The chapter defines a set of functional and technical specifications on a robotic multi-digital tactile sensor system. It describes the design process of an example of a tactile system. The chapter further illustrates a tri-axial force microsensor array and its integration into an artificial touch system for use in discriminating and estimating tactile surface parameters. It finally presents a highly sensitive tactile 3D force sensor solution, the "Nail" sensor, for texture recognition and artificial touch system.
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https://hal-cea.archives-ouvertes.fr/cea-01852582
Contributor : Léna Le Roy <>
Submitted on : Thursday, August 2, 2018 - 8:06:09 AM
Last modification on : Thursday, June 11, 2020 - 5:04:04 PM

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M. Boukallel, H. Yousef, Christophe Godin, C. Coutier. Flexible Tactile Sensors for Multidigital Dexterous In-hand Manipulation. Flexible Robotics: Applications to Multiscale Manipulations, wiley, pp.181-242, 2013, 9781118572016; 9781848215207. ⟨10.1002/9781118572016.ch6⟩. ⟨cea-01852582⟩

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