Advanced Tactile Sensing for Robotics

Considers various aspects of tactile sensing, from hardware design through to the use of tactile data in exploratory situations using a multi-fingered robot hand. The current state of progress of tactile sensing is surveyed, and some fundamental issues in planar elasticity are presented.

Some experiments in dextrous manipulation using a robot hand are described, which apply some of these results. The integration of tactile sensors into a complete system is also considered and another approach for using touch sensing in a flexible assembly machine is described. Both basic material and new research results are provided in this book, thus catering to different levels of readers. The chapters by world experts in different aspects of the field are integrated well into one volume. The editor and authors have produced a thorough and in-depth survey of all work in robot tactile sensing, making the book essential reading for all researchers in this emergent field.

Introduction to tactile sensing
tactile sensor designs
processing and using tactile sensor data, H.Nicholls
planar elasticity for tactile sensing, R. Fearing
integrating tactile sensors - ESPRIT 278, Z. Rzepczynski
distributed touch sensing, H. Nicholls and N. Hardy
the human tactile system, L. Moss-Salentijn
lessons from the study of biological touch for robot tactile sensing, S. Lederman and D. Pawluck
lessons from the study of biological touch for robot haptic sensing, S. Lederman et al
active tactile sensing
experiments in active haptic sensing with the Utah-MIT dextrous hand, P. Allen
future trends in tactile sensing, H. Nicholls
appendix - basic linear elasticity, R. Fearing.