A Robotic Dynamic Tactile Sensing System based on Electronic Skin

Abstract

Robot tactile is getting more and more practical with the rapid development of electronic skin (e-skin). In this work, we propose a dynamic tactile sensing system based on e-skin, a high-density array tactile sensor. The system is comprised of three algorithms to track motion and detect slip. With real-time slip detecting, an adaptive controller that can rapidly tune applied grasping force without having a priori knowledge of the objects was designed and experimentally validated.