Soft distributed sensors for dexterous robot hand manipulation
We will present various sensors tactile sensors that we have made and we will also show how we use them various tasks. We will present the sensors made for the human-symbiotic robot TWENDY-ONE, as well as capacitive and Hall-Effect based distributed soft tactile skin sensors. We have used our sensors for grasp stability, tactile object recognition, force control and in-hand manipulation, and this talk will give an overview over all this research. In the demonstration session we will showcase our latest skin sensor system, which is soft, can cover various parts of the robot hand, measure force in 3-axis, with a subcentimeter spatial resolution, and digital output.