@inproceedings{f2e3ad9b7a7047f8a200effb6afb7db5,
title = "Tactile Sensing with a Tendon-Driven Soft Robotic Finger",
abstract = "In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a tension sensor attached on the finger's tendon. We perform experiments to test the tactile sensing capabilities of the proposed structures, and our results indicate this method is capable of palpating texture and stiffness in both abduction and flexion contact. Under systematic cross validation, the proposed system achieved 100\% and 99.7\% accuracy in texture and stiffness discrimination respectively, which validate the viability of this approach. Furthermore, we used statistics tools to determine the significance of various features extracted for classification.",
keywords = "Biomimetics, Soft robotics, Tactile sensing",
author = "Chang Cheng and Yadong Yan and Mingjun Guan and Jianan Zhang and Yu Wang",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 9th International Conference on Control, Mechatronics and Automation, ICCMA 2021 ; Conference date: 11-11-2021 Through 14-11-2021",
year = "2021",
doi = "10.1109/ICCMA54375.2021.9646197",
language = "英语",
series = "2021 9th International Conference on Control, Mechatronics and Automation, ICCMA 2021",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "14--19",
booktitle = "2021 9th International Conference on Control, Mechatronics and Automation, ICCMA 2021",
address = "美国",
}