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Fingertip Contact Force Direction Control using Tactile Feedback

Dounia Kitouni, Elie Chelly, Mahdi Khoramshahi, Veronique Perdereau

TL;DR

This work explores the challenges related to individual finger contact force control and proposes a method for directing such forces perceived through tactile sensing and is evaluated using an Allegro hand with Xela tactile sensors.

Abstract

The human hand is an immensely sophisticated tool adept at manipulating and grasping objects of unknown characteristics. Its capability lies in perceiving interaction dynamics through touch and adjusting contact force direction and magnitude to ensure successful manipulation. Despite advancements in control algorithms, sensing technologies, compliance integration, and ongoing research, precise finger force control for dexterous manipulation using tactile sensing remains relatively unexplored.In this work, we explore the challenges related to individual finger contact force control and propose a method for directing such forces perceived through tactile sensing. The proposed method is evaluated using an Allegro hand with Xela tactile sensors. Results are presented and discussed, alongside consideration for potential future improvements.

Fingertip Contact Force Direction Control using Tactile Feedback

TL;DR

This work explores the challenges related to individual finger contact force control and proposes a method for directing such forces perceived through tactile sensing and is evaluated using an Allegro hand with Xela tactile sensors.

Abstract

The human hand is an immensely sophisticated tool adept at manipulating and grasping objects of unknown characteristics. Its capability lies in perceiving interaction dynamics through touch and adjusting contact force direction and magnitude to ensure successful manipulation. Despite advancements in control algorithms, sensing technologies, compliance integration, and ongoing research, precise finger force control for dexterous manipulation using tactile sensing remains relatively unexplored.In this work, we explore the challenges related to individual finger contact force control and propose a method for directing such forces perceived through tactile sensing. The proposed method is evaluated using an Allegro hand with Xela tactile sensors. Results are presented and discussed, alongside consideration for potential future improvements.
Paper Structure (11 sections, 21 equations, 6 figures)

This paper contains 11 sections, 21 equations, 6 figures.

Table of Contents

  1. INTRODUCTION
  2. BACKGROUND
  3. PROPOSED METHOD
  4. Slippage Detection
  5. Contact Force Direction Control
  6. Experimental Evaluation
  7. Contact Pose
  8. Contact pseudo-force estimation
  9. Controller implementation
  10. Results and discussion
  11. CONCLUSIONS

Figures (6)

  • Figure 1: A robotic manipulator that is in contact with a rigid body
  • Figure 2: The Allegro hand with tactile sensors and a 3D model view to show taxels positions.
  • Figure 3: Taxel frames on a fingertip.
  • Figure 4: Results for contact force control for the Index
  • Figure 5: Results for contact force control for the Thumb
  • ...and 1 more figures