Curvature based shape estimation using tactile sensing

M. Charlebois, K. Gupta, S. Payandeh
Proceedings of IEEE International Conference on Robotics and Automation  
In this paper we propose an approach -we call it a "Blind Man's" approach -to shape description in which tactile information is sensed from the fingertips of a dexterous hand. Using this contact information, we investigate two complementary methods for curvature estimation. The first method is based on rolling one finger to estimate curvature at a point on the surface. We use Montana's equations for estimating curvature at a point using simulations and analyze the sensitivity of the approach to
more » ... noise. The second method uses multiple fingers to slide along a surface while sensing contact points and surface normals. We present a method to extract the shape properties of a patch obtained by fitting a B-spline surface to this multi-fingered sweep across the surface of the object. The method enables us to extract higher level shape information based on the curvature properties of patch.
doi:10.1109/robot.1996.509246 dblp:conf/icra/CharleboisGP96 fatcat:a4rpvtvboff7pp3hmfk2sakbai