Slip Sensing Sensor Heads: Shinichi Hirai Contact: Damith Suresh Chathuranga Date: 2005 - 2017 Mailing address: Dept. Robotics, Ritsumeikan Univ. Kusatsu, Shiga 525-8577, Japan Supported by: Grant-in-Aid for Scientific Research (No.2324604) 2011 - 2013 (Shinichi Hirai) Tribology of Soft Tissues Associated lab/group: Makikawa Lab.

Project Description

This project focuses on slip detecting sensors. Using a fabric sensor consisting of conductive yarns and a set of accelerometers embedded in a soft fingertip, we will perform incipient slip detection and texture recognition.

2015/10/2	Damith attended "Three Minute Thesis" Competition Semi-final held at The University of Queensland. (news)
2015/6/25	Dr. Wang was nominated to Finalist for Best Conference Paper Award in RCAR 2015 held at Changsha, China.
2015/6/26	Damith won 3 Minute Thesis Presentation Competition held at Ritsumeikan University by his talk on "Why not let robots feel the softness of a flower petal". He will attend the Asia Level Competition held in end of July.
2015/4/1	Proposal for Grant-in-Aid for Scientific Research "Dynamics and Tribology of Soft Tissues in Tactile Perception" was accepted.
2015/4/1	Proposal to Program for Promotion of International Research "Application of Soft Tactile Sensors to Medical Robotics" was accepted. This program will promote collaborative research with King's College, London.
2014/10/1-11/25	Damith stayed King's College London (UK) for collaborative research.
2014/3/10	Presented "Fabric Tactile Sensor" at e-Textile Technical Committee in Textile Machinery Society Japan
2011/4/7	Proposal for Grant-in-Aid for Scientific Research "Tribology of Soft Tissues" was accepted.
2011/4/1	Mr. Ho was selected as a Research Fellowship for Young Scientists (DC2) of JSPS.
2010/11/19-12/27	Mr. Ho stayed at Professor Kao's laboratory in State Univ. of New York at Stony Brook for collaborative research.

Personnel

	Name	Title	Degree
	Damith Suresh Chathuranga	University of Moratuwa	Ph. D in Engineering
	Van Anh Ho	Japan Advanced Institute of Science and Technology	Ph.D
	Kouyo Nakagawa	Graduated	Master of Eng.
	Syo Imai	Graduated	Master of Eng.
	Yuusuke Onoda	Graduated	Master of Eng.
	Terada Yuuya	Graduated
	Kouta Saito	Graduated
	Naoki Ito	Graduated
	Kouji Kuwada	Graduated

Publications

• Van Ho and Shinichi Hirai, Mechanics of Localized Slippage in Tactile Sensing, ISBN 978-3-319-04122-3, Springer, Springer Tracts in Advanced Robotics 99, 10.1007/978-3-319-04123-0, 2014

• Van Ho and Shinichi Hirai, Understanding Slip Perception of Soft Fingertips by Modeling and Simulating Stick-Slip Phenomenon, Hugh Durrant-Whyte, Nicholas Roy, and Pieter Abbeel eds., Robotics: Science and Systems VII, 9780262306881, The MIT Press, pp.129-136, 2012

• Van Ho, Hisayoshi Honda, and Shinichi Hirai, Development of a Novel Slip Haptic Display Device Based on the Localized Displacement Phenomenon, IEEE Robotics and Automation Letters, Vol.1, Issue 1, pp.585-592, 10.1109/LRA.2016.2524068, Feb., 2016
• Van Anh Ho and Shinichi Hirai, A Novel Model for Assessing Sliding Mechanics and Tactile Sensation of Human-Like Fingertips during Slip Action, Robotics and Autonomous Systems, Vol.63, No.3, "Special Issue on Advances in Tactile Sensing and Touch-based Human Robot Interaction (eds. Fulvio Mastrogiovanni, Lorenzo Natale, Giorgio Cannata, Giorgio Metta)", pp.253-267, 10.1016/j.robot.2014.09.009, Jan., 2015
• Van Anh Ho, Masaaki Makikawa, and Shinichi Hirai, Flexible Fabric Sensor toward a Humanoid Robotic Skin: Fabrication, Characterization, and Perceptions, IEEE Sensors Journal, Vol.13, No.10, Special Issue on Flexible Sensors and Sensing Systems, pp.4065-4080, 10.1109/JSEN.2013.2272336, Oct., 2013
• Van Anh Ho and Shinichi Hirai, Modeling and Analysis of a Frictional Sliding Soft Fingertip, and Experimental Validations, Advanced Robotics, Vol.25, No.3-4, pp.291-311, 10.1163/016918610X552123, Feb., 2011
• Van Ho, Viet Dzung Dao, Susumu Sugiyama, and Shinichi Hirai, Development and Analysis of a Sliding Tactile Soft Fingertip Embedded With a Microforce/Moment Sensor, IEEE Trans. on Robotics, Vol.27, No.3, Special Issue on Robotics Sense of Touch, pp.411-424, 10.1109/TRO.2010.2103470, June, 2011

• Van Ho and Shinichi Hirai, From Localized Shearing to Localized Slippage Perception, 2016 International Symposium on Experimental Robotics (ISER 2016), 10.1007/978-3-319-50115-4_39, International House of Japan, Tokyo, Japan, Oct. 3-6, 2016
• Van Anh Ho, Shinichi Hirai, and Koki Naraki, Fabric Interface with Proximity and Tactile Sensation for Human-Robot Interaction, 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2016), pp.238-245, 10.1109/IROS.2016.7759061, Daejeon Convention Center, Daejeon, Korea, Oct. 9-14, 2016
• Hideyasu Yamashita, Van Anh Ho, Koji Shibuya, and Shinichi Hirai, Morphological Computation in Tactile Sensing: A New Approach in Implementation, 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2016), pp.3501-3502, 10.1109/ICRA.2017.7989579, Daejeon Convention Center, Daejeon, Korea, Oct. 9-14, 2016
• Wang Zhongkui, Damith Suresh Chathuranga Katudampe Vithanage, and Shinichi Hirai, Study on the Human Perception of Incipient and Overall Slippages Using A 2D FE Fingertip Model, The 37th Annual Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC 2015), 10.1109/EMBC.2015.7319702, MiCo - Milano Congressi, Milano, Italy, Aug. 25-29, 2015
• Van Anh Ho, Sho Imai, and Shinichi Hirai, Multimodal Flexible Sensor for Healthcare Systems, 36th Annual Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC 2014), 10.1109/EMBC.2014.6944990, Sheraton Hotel & Towers, Chicago, Illinois, USA, Aug. 26-30, 2014
• Damith Suresh Chathuranga, Zhongkui Wang, and Shinichi Hirai, Challenges in Developing Soft Tactile Sensors for Robots that Detect Incipient Slip, 7th Int. Conf. on Information and Automation for Sustainability (ICIAfS), 10.1109/ICIAFS.2014.7069577, Galadari Hotel, Lotus Rd, Colombo, Sri Lanka, Dec. 22-24, 2014
• Damith Suresh Chathuranga Katudampe Vithanage, Van Ho, and Shinichi Hirai, Investigation of the Bio-mimetic Fingertip's Ability to Discriminate Fabrics Based on Surface Textures, 2013 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM 2013), pp.1667-1674, 10.1109/AIM.2013.6584336, Wollongong, Australia, July 9-12, 2013
• Van Anh Ho, Tatsuya Nagatani, Akio Noda, and Shinichi Hirai, What Can Be Inferred From a Tactile Arrayed Sensor in Autonomous In-Hand Manipulation?, Proc. 2012 IEEE Int. Conf. on Automation Science and Engineering (CASE), pp.457-464, 10.1109/CoASE.2012.6386384, Seoul, Korea, Aug. 20-24, 2012
• Van Anh Ho, Takahiro Araki, Masaaki Makikawa, and Shinichi Hirai, Experimental Investigation of Surface Identification Ability of a Low-Profile Fabric Tactile Sensor, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4497-4504, 10.1109/IROS.2012.6385538, Vilamoura, Algarve, Portugal, Oct. 7-12, 2012
• Katudampe Vithanage Damith Suresh Chathuranga, Van Anh Ho, and Shinichi Hirai, A Bio-mimetic Fingertip That Detects Force and Vibration Modalities and its Application to Surface Identification, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012), pp.575-581, 10.1109/ROBIO.2012.6491028, Guangzhou, China, Dec. 11-14, 2012
• Van Ho, Daisuke Kondo, Shima Okada, Takahiro Araki, Emi Fujita, Masaaki Makikawa, and Shinichi Hirai, Development of a Low-Profile Sensor Using Electro-conductive Yarns in Recognition of Slippage, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2011), pp.1946-1953, 10.1109/IROS.2011.6094497, San Francisco, California, U.S.A., Sept. 25-30, 2011
• Van Ho, Viet Dzung Dao, Susumu Sugiyama, and Shinichi Hirai, Design of a Small-Scale Tactile Sensor with Three Sensing Points for Using in Robotic Fingertips, Proc. IEEE Int. Conf. on Robotics and Automation, pp.4855-4860, 10.1109/ROBOT.2010.5509134, Anchorage, Alaska, U.S.A., May 3-8, 2010
• Van Ho Anh, Viet Dzung Dao, Susumu Sugiyama, and Shinichi Hirai, Analysis of Sliding of a Soft Fingertip Embedded with a Novel Micro Force/Moment Sensor: Simulation, Experiment, and Application, Proc. IEEE Int. Conf. on Robotics and Automation, pp.889-894, 10.1109/ROBOT.2009.5152458, Kobe, Japan, May 12-17, 2009
• Van Ho Anh, Viet Dzung Dao, Susumu Sugiyama, and Shinichi Hirai, Force/Moment Sensing During Sliding Motion using a Micro Sensor Embedded in a Soft Fingertip, Proc. 10th Int. Conf. on Control, Automation, Robotics and Vision (ICARCV 2008), pp.161-166, 10.1109/ICARCV.2008.4795510, Hanoi, Vietnam, Dec. 17-20, 2008
• Ikuo Fujii, Takahiro Inoue, Dzung Viet Dao, Susumu Sugiyama, and Shinichi Hirai, Tactile Perception Using Micro Force/Moment Sensor Embedded in Soft Fingertip, Proc. IEEE Sensors, pp.558-562, 10.1109/ICSENS.2007.355529, Daegu, Korea, Oct. 22-25, 2006

• Van Anh Ho and Shinichi Hirai, Fabric Sensor Detecting Slippage, International Workshop on Soft and Flexible Micro/Nano System Technology (SF-MINAS 2013), Griffith University, Gold Coast Campus, Australia, July 12-14, 2013
• Damith Suresh Chathuranga Katudampe Vithanage and Shinichi Hirai, Surface Texture Discrimination Using MEMS Accelerometer Embedded Biomimetic Fingertip, International Workshop on Soft and Flexible Micro/Nano System Technology (SF-MINAS 2013), Griffith University, Gold Coast Campus, Australia, July 12-14, 2013
• Van Anh Ho, Tatsuya Nagatan, Akio Noda, and Shinichi Hirai, From Tactile Data to Image Processing, and Application in Robotic In-Hand Manipulation, 29th Annual Conference of Robotics Society of Japan, Toyosu, Japan, Sept. 7-9, 2011
• Van Anh Ho, Tatsuya Nagatani, Akio Noda, and Shinichi Hirai, Enhancement of Tactile Sensor's Ability in In-Hand Manipulation Utilizing Image Processing Tool, 12th SICE System Integration Division Annual Conference, pp.354-357, Kyoto, Japan, Dec. 23-25, 2011

Notes

Tactile sensor made of conductive fabric (avi 0.7MB)

Proximity sensor made of conductive fabric (avi 0.5MB)

Slippage detection by fabric sensor (mpg 9.3MB)

Slippage detection via haptic image processing (mov 14.2MB)

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