Sensing Local Geometry for Dexterous Manipulation

Abstract: We describe a new tactile sensor for use in dexterous manipulation and telemanipulation. The sensor consists of an array of curvature-measuring elements embedded in a compliant membrane. The resulting sensor is inexpensive and robust, and can be used in robotic hands with soft fingertips for object handling and exploration. The curvature measurements provide information for manipulation planning and control and provide an estimate of the local object geometry, useful for grasp stability analysis. The prototype device consists of an array of strain gages fabricated within a compliant membrane. Object curvature estimation results are presented, along with suggestions for improvements in future versions of the device. 1