@article{PetcharteeMonkman, author = {Petchartee, Somrak and Monkman, Gareth J.}, title = {Optimisation of Prehension Force through Tactile Sensing}, series = {Industrial Robot}, volume = {35}, journal = {Industrial Robot}, number = {4}, publisher = {MCB Univ. Press}, address = {Bradford}, doi = {10.1108/01439910810876454}, pages = {361 -- 368}, abstract = {Purpose The purpose of this paper is to analyze surface deformations caused by shear and moment forces on tactile materials and present a method to detect and reduce the risk of slippage by controlling the normal force as measured by tactile sensor arrays. Design/methodology/approach A predictive model has been proposed which uses a basic method adapted to real applications in grasp optimization. Prevention of premature release with minimum prehension force is addressed without the need to measure the coefficient of friction between object and robot gripper. Predictive models have been used to develop a set of rules which predict the pre-slip based on fluctuations in tactile signal data. Findings The tactile sensors can be used in a "nonlinear" manner during manipulation tasks. When the gripper finger first makes contact with an object, the stress distribution under the finger skin varies rapidly. Predictive models have been used to develop a set of rules which predict the pre-slip based on fluctuations in tactile signal data. Pre-slip at the contact area just prior to object movement produces rapid but detectable stress transients. Originality/value Tactile sensors do not measure stress generated by a contact with an object directly, but instead measure strain in an interposed compliant, polymeric medium intended for sensor protection and prehension assistance. Reliable detection of pre-slip has hitherto eluded researchers using such tactile techniques.}, language = {en} } @incollection{PetcharteeMonkmanSuebsromran, author = {Petchartee, Somrak and Monkman, Gareth J. and Suebsromran, Anan}, title = {3D-Shape Recognition based Tactile Sensor}, series = {Smart Sensors and Sensing Technology}, booktitle = {Smart Sensors and Sensing Technology}, editor = {Mukhopadhyay, S.C. and Gupta, G.S.}, publisher = {Springer}, address = {Berlin ; Heidelberg}, isbn = {978-3-540-79589-6}, doi = {10.1007/978-3-540-79590-2_21}, pages = {317 -- 332}, abstract = {A surface recognition algorithm capable of determining contact surfaces types by means of tactile sensor fusion is proposed. The authors present a recognition processes for 3-dimensional deformations in a 2-dimensional parametric domain. Tactile information is extracted by physical contact with a grasped object through a sensing medium. Information is obtained directly at the interface between the object and the sensing device and relates to three-dimensional position and orientation of the object in the presence of noise. The technique called "eigenvalue trajectory analysis", is introduced and adopted for specifying the margin of classification and classification thresholds. The authors demonstrate mathematically that this approach, which complements existing work, offers significant computational advantages when applied to challenging contact scenarios such as dynamic recognition of contact deformations.}, language = {en} } @inproceedings{PetcharteeMonkman, author = {Petchartee, Somrak and Monkman, Gareth J.}, title = {3D-Shape Recognition based Tactile Sensor}, series = {ICST 2007, Proceedings of 2nd International Conference on Sensing Technology : Massey University, Palmerston North, New Zealand, November 26 - 28, 2007}, booktitle = {ICST 2007, Proceedings of 2nd International Conference on Sensing Technology : Massey University, Palmerston North, New Zealand, November 26 - 28, 2007}, publisher = {Inst. of Information Sciences and Techn., Massey Univ.}, address = {Palmerston}, pages = {56 -- 61}, language = {en} } @article{PetcharteeMonkman, author = {Petchartee, Somrak and Monkman, Gareth J.}, title = {Pre-slip Sensing through Tactile Sensing}, series = {Sensors \& Transducers}, volume = {90}, journal = {Sensors \& Transducers}, number = {4, Special Issue}, publisher = {International Frequency Sensor Association (IFSA)}, issn = {1726-5479}, pages = {310 -- 324}, language = {en} } @inproceedings{PetcharteeMonkman, author = {Petchartee, Somrak and Monkman, Gareth J.}, title = {Contact Identification using Tactile Arrays}, series = {Proceedings of the 7th IEEE International Symposium on Signal Processing and Information Technology (ISSPIT 2007), 15.-18.12.2007, Giza, Egypt}, booktitle = {Proceedings of the 7th IEEE International Symposium on Signal Processing and Information Technology (ISSPIT 2007), 15.-18.12.2007, Giza, Egypt}, publisher = {IEEE}, doi = {10.1109/ISSPIT.2007.4458144}, pages = {1121 -- 1126}, abstract = {The proposed method allows a robot to quantify tactile recognition of grasped objects. The responses by the robot are matched by randomly introducing objects following the completion of tactile sensor based training phases on 4 specific objects. The reproduction of the robotic contact identification is accomplished by matching threshold values of the smallest eigenvalue of the Quadric surface - called the eigenvalue trajectory. Once the grasped objects are introduced to the 2-fingered robot hand, the eigenvalue trajectory of contact surfaces are calculated by the system. Calculations are based on the degree of similarity of the characteristics between the newly received and previously trained tactile data. Experimental results indicate that the proposed algorithm allows a successful quantification of robotic contact recognition and the accomplishment of high levels of accuracy in contact identification. These results confirm that the proposed method is useful for identifying contact surfaces based on tactile sensor data.}, language = {en} } @inproceedings{PetcharteeMonkman, author = {Petchartee, Somrak and Monkman, Gareth J.}, title = {Contact Classification using Tactile Arrays}, series = {2007 3rd International Conference on Intelligent Sensors, Sensor Networks and Information (ISSNIP), 3, 03.-06.12.2007, Melbourne, VIC, Australia}, booktitle = {2007 3rd International Conference on Intelligent Sensors, Sensor Networks and Information (ISSNIP), 3, 03.-06.12.2007, Melbourne, VIC, Australia}, doi = {10.1109/ISSNIP.2007.4496848}, pages = {227 -- 232}, abstract = {This paper proposed a contact recognition algorithm capable of determining contact surfaces types by tactile sensor fusion. This algorithm can recognize grasped objects using a 2- fingered robot hand, on which tactile sensors are mounted. Experiments have demonstrated reliable surface classification and accurate transformation independent of object shape and orientation. The contribution of this paper regards the relations between a surface and the points cloud defining it. Particularly, we investigate on the possibility that there is some intrinsic feature of a points cloud under quadric surface, allowing us to discriminate or classify a dataset defining a surface from the acquisition noise.}, language = {en} } @article{PetcharteeMonkman, author = {Petchartee, Somrak and Monkman, Gareth J.}, title = {Contact Recognition using Tactile Sensor}, series = {Annals Universitaria Craiova-Series: Automation, Computers, Electronics and Mechatronics}, volume = {4 (31)}, journal = {Annals Universitaria Craiova-Series: Automation, Computers, Electronics and Mechatronics}, number = {2}, pages = {103 -- 108}, abstract = {The surface recognition algorithm that determines the types of contact surfacesby fusing information collected by the tactile sensor system is proposed. The tactilesystem will be determined from the shape of the object image which can then becharacterized using the mathematical properties of Quadric surface. This algorithm canrecognize 3-D objects using a 2-fingered robot gripper, on which tactile sensors aremounted. Experiments have demonstrated the reliability of the surface classificationmethod and the accuracy of transformations independent of an object's shape, translationand rotation.}, language = {en} } @article{PetcharteeMonkman, author = {Petchartee, Somrak and Monkman, Gareth J.}, title = {Optimisation of Prehension Force through Tactile Sensing}, series = {Journal of Advanced Manufacturing Technology}, journal = {Journal of Advanced Manufacturing Technology}, publisher = {Universiti Teknikal Malaysia Melaka}, issn = {2289-8107}, language = {en} } @article{PetcharteeMonkman, author = {Petchartee, Somrak and Monkman, Gareth J.}, title = {Contact Recognition through Tactile Sensing}, series = {ACTA Universitatis Apulensis; Seria Mathematics-Informatics}, journal = {ACTA Universitatis Apulensis; Seria Mathematics-Informatics}, publisher = {Department of Mathematics and Informatics}, address = {Alba Iulia}, issn = {1582-5329}, language = {en} } @inproceedings{PetcharteeMonkman, author = {Petchartee, Somrak and Monkman, Gareth J.}, title = {Contact Recognition using Tactile Sensor}, series = {Proc. International Symposium on System Theory, Automation, Robotics, Computers, Informatics, Electronics and Instrumentation (SINTES13), Romania}, booktitle = {Proc. International Symposium on System Theory, Automation, Robotics, Computers, Informatics, Electronics and Instrumentation (SINTES13), Romania}, pages = {285 -- 290}, language = {en} } @inproceedings{PetcharteeMonkman, author = {Petchartee, Somrak and Monkman, Gareth J.}, title = {Pre-slip detection based Tactile Sensing}, series = {Proc. 3rd International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP 2007), Melbourne}, booktitle = {Proc. 3rd International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP 2007), Melbourne}, pages = {233 -- 238}, language = {en} } @inproceedings{PetcharteeMonkman, author = {Petchartee, Somrak and Monkman, Gareth J.}, title = {Contact classification using tactile arrays}, series = {Proc. International Conference on Engineering \& ICT 2007 (ICEI 2007), 27th to 29th November 2007, Malacca, Malaysia}, booktitle = {Proc. International Conference on Engineering \& ICT 2007 (ICEI 2007), 27th to 29th November 2007, Malacca, Malaysia}, language = {en} } @inproceedings{PetcharteeMonkman, author = {Petchartee, Somrak and Monkman, Gareth J.}, title = {Optimisation of Prehension Force through Tactile Sensing}, series = {Proc. International Conference on Engineering \& ICT 2007 (ICEI 2007), Malaysia}, booktitle = {Proc. International Conference on Engineering \& ICT 2007 (ICEI 2007), Malaysia}, language = {en} } @article{PetcharteeMonkman, author = {Petchartee, Somrak and Monkman, Gareth J.}, title = {Slip Prediction through Tactile Sensing}, series = {Sensors \& Transducers}, volume = {90}, journal = {Sensors \& Transducers}, number = {Special Issue April 2008}, publisher = {International Frequency Sensor Association, IFSA}, issn = {1726-5479}, pages = {310 -- 324}, abstract = {This paper introduces a new way to predict contact slip using a resistive tactile sensor. The prototype sensor can be used to provide intrinsic information relating to geometrical features situated on the surface of grasped objects. Information along the gripper finger surface is obtained with a measurement resolution dependant on the number of discrete tactile elements. The tactile sensor predicts the partial slip of a tactile surface by sensing micro vibrations in tangential forces which are caused by an expansion of the slip regions within the contact area. The location of the local slip is not specified but its occurrence can be predicted immediately following micro vibration detection. Predictive models have been used to develop a set of rules which predict the slip based on fluctuations in tactile signal data.  }, language = {en} } @inproceedings{HecknerStrakaSchubertetal., author = {Heckner, T. and Straka, M. and Schubert, A. and Petchartee, Somrak and Monkman, Gareth J.}, title = {Entwicklung eines Navigationssystems f{\"u}r autonome mobile Robotersysteme}, series = {International Mechatronik Forum, Linz}, booktitle = {International Mechatronik Forum, Linz}, pages = {520 -- 527}, language = {de} } @inproceedings{PetcharteeMonkman, author = {Petchartee, Somrak and Monkman, Gareth J.}, title = {Pre-slip sensing using tactile sensor}, series = {Proceedings / SINTES 13, International Symposium on Systems Theory, Automation, Robotics, Computers, Informatics, Electronics and Instrumentation, October 18 - 20, 2007, Craiova - Romania}, booktitle = {Proceedings / SINTES 13, International Symposium on Systems Theory, Automation, Robotics, Computers, Informatics, Electronics and Instrumentation, October 18 - 20, 2007, Craiova - Romania}, pages = {279 -- 284}, language = {en} } @article{PetcharteeMonkman, author = {Petchartee, Somrak and Monkman, Gareth J.}, title = {Pre-slip sensing using tactile sensor}, series = {Annals Universitaria Criaiova-Series: Automation, Computers, Electronics and Mechatronics}, volume = {4 (31)}, journal = {Annals Universitaria Criaiova-Series: Automation, Computers, Electronics and Mechatronics}, number = {2}, pages = {109 -- 114}, language = {en} } @inproceedings{PetcharteeMonkman, author = {Petchartee, Somrak and Monkman, Gareth J.}, title = {Pre-slip Sensing through Tactile Sensing}, series = {Proc. 2nd International Conference on Sensing Technology (ICST 2007), New Zealand}, booktitle = {Proc. 2nd International Conference on Sensing Technology (ICST 2007), New Zealand}, pages = {62 -- 67}, language = {en} }