Date of Award
Master of Science (MS)
Electrical, Computer & Energy Engineering
Haptic sensing remains an open research area. Tactile feedback is acknowledged to be fundamental for human grasping, and yet robotics hardly uses it in practice.
In this work, we explore the manipulation benefits of a low-cost tactile sensor that combines proximity and force measurements. We implement a pick-and-place pipeline, and show that success rates increase in different tasks when adding haptic feedback. We study a modified version of the tactile sensor, which drops proximity sensing for a more accurate and wider range force measurement.
Cañardo Alastuey, Jorge, "An Exploration of Low-Cost Tactile Sensing in Robotic Manipulation" (2016). Electrical, Computer & Energy Engineering Graduate Theses & Dissertations. 156.