High-Speed High-Precision Proximity Sensor Subsuming Tactile Function

Abstract

In this paper, we propose a strategy for inserting a thin peg with high speed and low contact force using a 3-finger hand equipped with a high-speed, high-precision proximity sensor. By measuring the tilt angle of the peg with high resolution, the contact between workpieces and fitting position is detected with low contact force. Further, the insertion completion is determined by measuring the amount of rubber deformation on the fingertip. We call this strategy “super-tactile based active touch”. It combines “super-tactile sensing” (proximity sensing from non-contact to contact state), together with “active touch”. In the experiment, we confirmed the robot can insert a thin peg (2mm thickness) at high-speed (6s) with low contact force.