A prototype fingertip with high spatial resolution pressure sensing for the robot iCub

Alexander Schmitz; Marco Maggiali; Marco Randazzo; Lorenzo Natale; Giorgio Metta

doi:10.1109/ICHR.2008.4755988

A prototype fingertip with high spatial resolution pressure sensing for the robot iCub

Alexander Schmitz^*, Marco Maggiali, Marco Randazzo, Lorenzo Natale, Giorgio Metta

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

25 Citations (Scopus)

Abstract

Tactile feedback is of crucial importance for object manipulation in unknown environments. In this paper we describe the design and realization of a fingertip which includes a capacitive pressure sensor with 12 sensitive zones. It is naturally shaped and its size is small enough so that it can be mounted on the fingers of the humanoid robot iCub. It also embeds the electronic device which performs A/D conversion: This is beneficial for the signal to noise ratio and reduces the number of wires required to connect the fingertip to the robot. The fingertip is made of silicone, which makes its surface and inner structure compliant and flexible. We present preliminary experiments performed with the first prototype.

Original language	English
Title of host publication	2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
Pages	423-428
Number of pages	6
DOIs	https://doi.org/10.1109/ICHR.2008.4755988
Publication status	Published - 2008
Externally published	Yes
Event	2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008 - Daejeon, Korea, Republic of Duration: 2008 Dec 1 → 2008 Dec 3

Publication series

Name	2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008

Conference

Conference	2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
Country/Territory	Korea, Republic of
City	Daejeon
Period	08/12/1 → 08/12/3

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction

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10.1109/ICHR.2008.4755988

Cite this

Schmitz, A., Maggiali, M., Randazzo, M., Natale, L., & Metta, G. (2008). A prototype fingertip with high spatial resolution pressure sensing for the robot iCub. In 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008 (pp. 423-428). Article 4755988 (2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008). https://doi.org/10.1109/ICHR.2008.4755988

A prototype fingertip with high spatial resolution pressure sensing for the robot iCub. / Schmitz, Alexander; Maggiali, Marco; Randazzo, Marco et al.
2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008. 2008. p. 423-428 4755988 (2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Schmitz, A, Maggiali, M, Randazzo, M, Natale, L & Metta, G 2008, A prototype fingertip with high spatial resolution pressure sensing for the robot iCub. in 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008., 4755988, 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008, pp. 423-428, 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008, Daejeon, Korea, Republic of, 08/12/1. https://doi.org/10.1109/ICHR.2008.4755988

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A prototype fingertip with high spatial resolution pressure sensing for the robot iCub

Abstract

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