Intelligent fingertip sensing for contact information identification

Abstract

In this paper we propose a new iterative algorithm for effective contact information identification, allowing a fingertip equipped with 6-axis force/torque sensor to accurately estimate contact information, including the contact location on the fingertip, the direction and the magnitude of the friction and normal forces, the local torque generated at the surface. The proposed algorithm is highly computational efficient and achieves an update rate of 833 Hz. The accuracy of the proposed algorithm has been validated experimentally. The results show that the algorithm provides precise estimation for all the identified contact properties. © Springer-Verlag 2012.