A simple robotic tactile sensor for object surface sensing

Kitti Suwanratchatamanee*, Mitsuharu Matsumoto, Shuji Hashimoto

*Corresponding author for this work

    Research output: Contribution to journalArticlepeer-review

    8 Citations (Scopus)


    This paper presents a new tactile sensor system and an active sensing technique to realize active object surface sensing. Experimental results are also presented. The tactile sensor unit implemented on the robot hand consists of three force-sensitive resistors arranged triangularly. The unit can detect not only the reactive force from the object, but also determine the orientation of the object surface. Three possible applications are introduced. The first application is three-dimensional (3-D) object edge tracing, which can be employed in industrial processes such as welding and inspection to eliminate manual teaching procedures. The second application is the control of a hand pose to keep the direction of the hand normal to the object surface in 3-D, which is often necessary when pushing an object. Third is the realization of effective human-robot cooperation to move an object together.

    Original languageEnglish
    Pages (from-to)867-892
    Number of pages26
    JournalAdvanced Robotics
    Issue number8
    Publication statusPublished - 2008 Aug 1


    • Human-robot interaction
    • Object edge tracing
    • Object surface sensing
    • Surface normal following
    • Tactile sensor

    ASJC Scopus subject areas

    • Control and Systems Engineering


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