Measurement of shear and slip with a GelSight tactile sensor

Wenzhen Yuan; Rui Li; Mandayam A. Srinivasan; Edward H. Adelson

doi:10.1109/ICRA.2015.7139016

Measurement of shear and slip with a GelSight tactile sensor

Wenzhen Yuan, Rui Li, Mandayam A. Srinivasan, Edward H. Adelson

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

Abstract

Artificial tactile sensing is still underdeveloped, especially in sensing shear and slip on a contact surface. For a robot hand to manually explore the environment or perform a manipulation task such as grasping, sensing of shear forces and detecting incipient slip is important. In this paper, we introduce a method of sensing the normal, shear and torsional load on the contact surface with a GelSight tactile sensor [1]. In addition, we demonstrate the detection of incipient slip. The method consists of inferring the state of the contact interface based on analysis of the sequence of images of GelSights elastomer medium, whose deformation under the external load indicates the conditions of contact. Results with a robot gripper like experimental setup show that the method is effective in detecting interactions with an object during stable grasp as well as at incipient slip. The method is also applicable to other optical based tactile sensors.

Original language	English (US)
Title of host publication	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	304-311
Number of pages	8
Edition	June
ISBN (Electronic)	9781479969234
DOIs	https://doi.org/10.1109/ICRA.2015.7139016
State	Published - Jun 29 2015
Externally published	Yes
Event	2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States Duration: May 26 2015 → May 30 2015

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Number	June
Volume	2015-June
ISSN (Print)	1050-4729

Other

Other	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/Territory	United States
City	Seattle
Period	5/26/15 → 5/30/15

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Online availability

10.1109/ICRA.2015.7139016

Library availability

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Yuan, W., Li, R., Srinivasan, M. A., & Adelson, E. H. (2015). Measurement of shear and slip with a GelSight tactile sensor. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 (June ed., pp. 304-311). Article 7139016 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7139016

Measurement of shear and slip with a GelSight tactile sensor. / Yuan, Wenzhen; Li, Rui; Srinivasan, Mandayam A. et al.
2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 304-311 7139016 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June).

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

Yuan, W, Li, R, Srinivasan, MA & Adelson, EH 2015, Measurement of shear and slip with a GelSight tactile sensor. in 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June edn, 7139016, Proceedings - IEEE International Conference on Robotics and Automation, no. June, vol. 2015-June, Institute of Electrical and Electronics Engineers Inc., pp. 304-311, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, United States, 5/26/15. https://doi.org/10.1109/ICRA.2015.7139016

Yuan W, Li R, Srinivasan MA, Adelson EH. Measurement of shear and slip with a GelSight tactile sensor. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June ed. Institute of Electrical and Electronics Engineers Inc. 2015. p. 304-311. 7139016. (Proceedings - IEEE International Conference on Robotics and Automation; June). doi: 10.1109/ICRA.2015.7139016

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abstract = "Artificial tactile sensing is still underdeveloped, especially in sensing shear and slip on a contact surface. For a robot hand to manually explore the environment or perform a manipulation task such as grasping, sensing of shear forces and detecting incipient slip is important. In this paper, we introduce a method of sensing the normal, shear and torsional load on the contact surface with a GelSight tactile sensor [1]. In addition, we demonstrate the detection of incipient slip. The method consists of inferring the state of the contact interface based on analysis of the sequence of images of GelSights elastomer medium, whose deformation under the external load indicates the conditions of contact. Results with a robot gripper like experimental setup show that the method is effective in detecting interactions with an object during stable grasp as well as at incipient slip. The method is also applicable to other optical based tactile sensors.",

author = "Wenzhen Yuan and Rui Li and Srinivasan, {Mandayam A.} and Adelson, {Edward H.}",

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AB - Artificial tactile sensing is still underdeveloped, especially in sensing shear and slip on a contact surface. For a robot hand to manually explore the environment or perform a manipulation task such as grasping, sensing of shear forces and detecting incipient slip is important. In this paper, we introduce a method of sensing the normal, shear and torsional load on the contact surface with a GelSight tactile sensor [1]. In addition, we demonstrate the detection of incipient slip. The method consists of inferring the state of the contact interface based on analysis of the sequence of images of GelSights elastomer medium, whose deformation under the external load indicates the conditions of contact. Results with a robot gripper like experimental setup show that the method is effective in detecting interactions with an object during stable grasp as well as at incipient slip. The method is also applicable to other optical based tactile sensors.

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Measurement of shear and slip with a GelSight tactile sensor

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