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Journal of Robotics
Volume 2011 (2011), Article ID 691769, 9 pages
Research Article

High-Speed Tactile Sensing for Array-Type Tactile Sensor and Object Manipulation Based on Tactile Information

1Department of Computer Science and Systems Engineering, Graduate School of Engineering, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, Japan
2Hyogo Prefectural Institute of Technology, Hyogo 654-0037, Japan
3Maeda Precision Mfg, Co., Ltd., Kobe 650-0017, Japan
4Hiroshima International University, Kure 737-0112, Japan
5The Advanced Materials Processing Institute Kinki Japan, Hyogo 660-0083, Japan

Received 14 July 2011; Revised 11 October 2011; Accepted 18 October 2011

Academic Editor: Yangmin Li

Copyright © 2011 Wataru Fukui et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We have developed a universal robot hand with tactile and other sensors. An array-type tactile sensor is crucial for dexterous manipulation of objects using a robotic hand, since this sensor can measure the pressure distribution on finger pads. The sensor has a very high resolution, and the shape of a grasped object can be classified by using this sensor. The more the number of measurement points provided, the higher the accuracy of the classification, but with a corresponding lengthening of the measurement cycle. In this paper, the problem of slow response time is resolved by using software for an array-type tactile sensor with high resolution that emulates the human sensor system. The validity of the proposed method is demonstrated through experiments.