The Performance of a Deformable-Membrane Tactile Sensor: Basic Results on Geometrically-Defined Tasks
Ferrier, Nicola J.
Brockett, Roger W.
MetadataShow full item record
The limitations of rigid fingertips in the precise andalgorithmic study of manipulation have been discussed in many works,some dating back more than a decade. Despite that fact, much of thework in dexterous manipulation has continued to use the"point-contact" model for finger-object interactions. In fact, mostexsisting tactile sensing technologies are not adaptable todeformable fingertips.<p>In this work we report on experimentalresults obtained with a deformable tactile sensor whose properties arewell-suited to manipulation. The results presented here show that thesensor described provides a rich set of tactile data.