Tactile sensing
R A Russell
6 points * 39 hours of lectures and practical work * Irregular availability * Clayton
Objectives In the robotics context, this subject will show how tactile sensing can be achieved; will develop a feel for the benefits and challenges of this relatively new technology; will emphasise the basic similarities and differences between touch and other robotic sensing modalities; and, through practical assignments, will illustrate advantages and limitations of different forms of touch sensor.
Synopsis Tactile sensing in humans and animals, transducer design considerations, structure of sensors to determine contact, slip, texture, temperature and surface profile. The robot gripper as part of a tactile sensory system, dexterous grasping, interpretation and utilisation of tactile information in recognition and manipulation tasks, multisensory fusion.
Assessment Examinations (2 hours): 60% * Laboratory work: 40%
Prescribed texts
Russell R A Robot tactile sensing Prentice-Hall, 1990
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