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Tactile Sensing For Robots

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Robotics and Artificial Intelligence

Part of the book series: NATO ASI Series ((NATO ASI F,volume 11))

Abstract

The purpose of this review and commentary is to examine the sense of touch in robots. This includes a presentation of the history of this relatively new technology, examination of the present state-of-the-art, and discussion of future challenges and opportunities in tactile sensing for automata. Special emphasis is placed on considerations relevant to industrial assembly robots.

Following several general introductory remarks, we first consider some aspects of the human touch sense which would seem to bear usefully on problems in machine sensing. This includes relationships of touch to vision and problems of coping with variables of shape, pose, object identification, and texture.

The next section covers the history and present state-of-the-art in automated tactile sensing. A number of aspects of automated taction are outlined, notably technical requirements like force, torque, compliance, slip, and pattern recognition. Relationships to manipulation are introduced, and discussion of materials and transducers, information processing, and pattern recognition completes the section.

The final section examines outstanding problems and near-future predictions. This is divided into several distinct but related topic areas which go beyond tactile sensing per se: materials and transduction, data handling and pattern recognition, hierarchical control, grippers and manipulators, and revised manufacturing technology.

Owing to the wide range of topics included here, coverage is extensive rather than intensive. The material is intended to serve as a general introduction to a relatively new discipline which couples basic understanding with practical application in many exciting and challenging ways. Ultimately one may predict that as dextrous, sensing, intelligent robots evolve, human society will be profoundly and irreversibly affected.

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Authors and Affiliations

  1. Department of Biomedical Engineering, Case Western Reserve University, Cleveland, Ohio, 44106, USA

    Leon D. Harmon (Professor)

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  1. Leon D. Harmon
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Editors and Affiliations

  1. Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA

    Michael Brady (Senior Research Scientist) (Senior Research Scientist)

  2. Electrical, Computer, and Systems Engineering Department, Rensselaer Polytechnic Institute, Troy, New York, USA

    Lester A. Gerhardt (Chairman and Professor) (Chairman and Professor)

  3. Department of the Army, Washington, D.C., USA

    Harold F. Davidson (Consultant) (Consultant)

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Harmon, L.D. (1984). Tactile Sensing For Robots. In: Brady, M., Gerhardt, L.A., Davidson, H.F. (eds) Robotics and Artificial Intelligence. NATO ASI Series, vol 11. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-82153-0_5

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