Tactile Perception based on Injected Vibration in Soft Sensor [article]

Naoto Komeno, Takamitsu Matsubara
<span title="2021-04-20">2021</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
Tactile perception using vibration sensation helps robots recognize their environment's physical properties and perform complex tasks. A sliding motion is applied to target objects to generate tactile vibration data. However, situations exist where such a sliding motion is infeasible due to geometrical constraints in the environment or an object's fragility which cannot resist friction forces. This paper explores a novel approach to achieve vibration-based tactile perception without a sliding
more &raquo; ... tion. To this end, our key idea is injecting a mechanical vibration into a soft tactile sensor system and measuring the propagated vibration inside it by a sensor. Soft tactile sensors are deformed by the contact state, and the touched objects' shape or texture should change the characteristics of the vibration propagation. Therefore, the propagated-vibration data are expected to contain useful information for recognizing touched environments. We developed a prototype system for a proof-of-concept: a mechanical vibration is applied to a biomimetic (soft and vibration-based) tactile sensor from a small, mounted piezoelectric actuator. As a verification experiment, we performed two classification tasks for sandpaper's grit size and a slit's gap widths using our approach and compared their accuracies with that of using sliding motions. Our approach resulted in 70% accuracy for the grit size classification and 99% accuracy for the gap width classification. These results are comparable to or better than the comparison methods with a sliding motion.
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2104.09790v1">arXiv:2104.09790v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/6jdcdki66fcd7k5p2axxdqmh6m">fatcat:6jdcdki66fcd7k5p2axxdqmh6m</a> </span>
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