A Visuo-haptic Sensor for the Exploration of Deformable Objects

We present a linear tactile sensor for grasping applications, which is based on a passive rubber foam material mounted on the fingers of a gripper and a low-cost camera pointed towards the actuator. This concept allows to visually measure local deformation, geometry and forces, without the need for costly dedicated sensors in the actuator. In an experiment, the geometry and deformation behavior of a deformable object (plastic bottle) is explored with the proposed sensor.




Presented onInt. Workshop on Autonomous Grasping and Manipulation, in conjunction with IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, Mai 2014.