Development and Integration of Tactile Sensing System
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To grasp and manipulate complex objects, robots require information about the interaction between the end effector and the object. This work describes the integration of a low-cost 3-axis tactile sensing system into two different robotic systems and the measurement of some of these complex interactions. The sensor itself is small, lightweight, and compliant so that it can be integrated within a variety of end effectors and locations on those end effectors (e.g. wrapped around a finger). To improve usability and data collection, a custom interface board and ROS (Robot Operating System) package were developed to read the sensor data and interface with the robots and grippers. Sensor data has been collected from four different tasks: 1. pick and place of non-conductive and conductive objects, 2. wrist-based manipulation, 3. peeling tape, and 4. human interaction with a grasped object. In the last task, a closed loop controller is used to adjust the grip force on the grasped object while the human interacts with it.