A Tactile Sensing for Estimating the Geometrical Shape and the Configuration of a Linked Object

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We have proposed a tactile sensing for estimating the location and orientation of a joint-axis of a linked object. This estimation requires sensing of the location of a contact point and the direction of an edge of a linked object as contact information measured by a robotic fingertip. We have developed a robotic fingertip with a force sensor and a soft skin, and it can measure not only the location of a contact point but also the direction of an edge of an object. The estimation of a joint-axis of a linked object is demonstrated by using the soft fingertip.