Grasping with Tactile Feedback

Goal: Develop a tactile sensing manipulator with the ability to manipulate unknown objects.

The most complex part of this problem is the development of sensor interpretation techniques that lead to reliable estimates of contact location, force, and indenter shape. The availability of this information simplifies the dextrous hand control problem.

Previous Results

Future Directions


Sensing Capabilities of Linear Elastic Cylindrical Fingers,
E. Nicolson and R. Fearing,
In Proceedings, IEEE/RSJ International Conference on Intelligent Robots and Systems'93,
Yokohama, Japan, pp. 178-185, July 1993.
The Reliability of Curvature Estimates from Linear Elastic Tactile Sensors,
E. Nicolson and R. Fearing,
Presented at the 1995 IEEE International Conference on Robotics and Automation,
Nagoya, Japan, May 1995
Fourier Analysis of the Bandlimited Shape Estimation Problem in Tactile Sensing,
E. Nicolson and R. Fearing,
Internal Memo, October 1994
Tactile Sensing and Control of a Planar Manipulator
E. Nicolson
Ph.D. Thesis, University of California at Berkeley, November 1994.
(5MB uncompressed postscript version)

See also:

"Basic Solid Mechanics for Tactile Sensing,"
R.S. Fearing and J.M. Hollerbach,
Int. Journal of Robotics Research, vol. 4, number 3, Fall, 1985, pp. 40-54
"Tactile Sensing Mechanisms,"
R. S. Fearing,
Int. Journal of Robotics Research, vol. 9, number 3, June, 1990, pp. 3-23

Ed Nicolson's home page

Last update: 29 July 1995