Object state and shape estimation is essential in many robotic manipulation tasks (e.g., in-hand manipulation, insertion). While such estimation is typically relied on visual perception, for tasks to be carried out in a vision-degraded or vision-denied environment, haptics becomes the reliable source of perception. In this letter, we propose the use of parameterized particle filtering to estimate object pose and shape in 3D space using tactile feedback. This approach is able to estimate with high accuracy using contact information of the object with a collision surface from a rough initial estimation. In comparison to conventional particle filtering, this approach significantly reduces the number of particles required for a satisfactory estimation, making it applicable for pose and shape estimation, where the number of degrees of freedom is high or even uncertain. Moreover, the proposed method can automatically choose the fastest-convergent contact action during the pose estimation stage to shorten the time required. A set of experiments in both simulation and on a real-world robot have been conducted to validate the proposed method and compare against the state-of-the-art approach in the literature. Results from both sets of experiments show that the proposed method can determine the pose and shape of the objects with very high accuracy within a small number of iterations.

Parameterized Particle Filtering for Tactile-Based Simultaneous Pose and Shape Estimation

The robots used in our daily lives come in contact with the environment not only directly, but also through grasped objects and tools. In such cases, the shape of the grasped objects could be unknown or uncertain; thus, the shape must be estimated using information about the contact. However, previous studies could not estimate the shape of the grasped objects without knowledge about the contact environment. In this study, unscented particle filters were used to estimate the contact positions, contact forces, and shape of the tools, simultaneously. In addition, we verified that the proposed method can estimate these characteristics by measuring the force and torque in the robots.

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Simultaneous Estimation of Contact Position and Tool Shape using an Unscented Particle Filter

In this article, we propose an intrinsic contact force sensing method on an arbitrary surface using six-axis force/torque information. An arbitrary surface is defined by a triangle mesh structuring, and the contact sensing solution is achieved by searching the contacted triangle and predicting the actual contact point. The contact sensing algorithm is designed as a three-stage process for swift detection: 1) initial contact triangle selection, 2) solution of the contact point within the triangle plane, and 3) the implementation of a technique for switching the candidate triangle. The performances of the proposed method were evaluated in an experimental setup using a robot manipulator with a commercial force sensor to measure reference data. In addition, to show the usability of the potential robotic applications, the performance verification was performed by measuring the contact force in the complex shape of a commercial collaborative robot.

Arbitrary Surface Contact Sensing Method for Physical Human–Robot Interaction

Identification of Contact Position and Force Estimation on Manipulator Using Force Sensor Implemented on Base Frame

This paper proposes intrinsic contact sensing using a particle filter. Intrinsic contact sensing is a method, which detects the contact position without any sensors on the outer shell. Force sensors are attached on the supporting point of outer shell instead. This method has been expanded to estimate contact information even without shape information. However, previous methods assume that contact points are stationary. Therefore, in this paper, we consider contact points with movements. When contact points move, it may be nonlinear. The particle filter is used to correspond to nonlinear motion. Experimental results show that the proposed method can follow the sharp movement compared with the conventional method.

Contact point estimation in tactile interface using particle filter

Intrinsic contact sensing is a method of using force sensors for separate tactile sensing without sensors arranged on the outer shell. Although the method is effective in some applications, the method has been limited to a fixed geometric shape. This study therefore proposes a method for movable structures. The contact position is estimated without geometric shape information by utilizing force/torque change over time. Additionally, this paper has proposed a method of eliminating the gravity term, which is a problem when using a structure-variable end effector as an interface. Calibration to decrease the calculation error was also introduced. Experimental evaluation using a wagon with drawers as the structure-variable object was done to verify the effectiveness of the proposed method.

Intrinsic Contact Sensing for Touch Interface With Movable Structure

This study deals with the development of a force-sensing device for converting a desk into an interface by mounting the device on the supports or legs of these objects. The system is composed of four force sensors with clamps, and a PC. Contact force and its position on a regular desk can be estimated from the response of the four force sensors fixed on the legs of the desk. Some application programs using this interface are introduced.

A Mounting Foot-Type Force-Sensing Device for a Desk with Haptic Sensing Capability

This paper focuses on extending a previously reported technique to convert a desk into a tactile interface. The original technique, based on the so-called "Haptic Desk" enables the detection of an applied force and its contact point by force sensors at the desk's supporting points. Consumer electronics and furniture can be converted into tactile interfaces with the use of this technique. However, this method has the restriction that an object should be composed of planes. The authors introduce a method of modeling the object as a set of points and estimating the contact point based on the distance between a point and the force representative line. Since there is a possibility that an incorrect contact point is estimated, the standard deviation of the distance is used to prevent incorrect estimations. The results of experiments show that the error is reduced by introducing the standard deviation.

A method for converting end effectors of various forms into tactile interfaces

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Intrinsic Contact Sensing for Touch Interface With Movable Structure

A Mounting Foot-Type Force-Sensing Device for a Desk with Haptic Sensing Capability

A method for converting end effectors of various forms into tactile interfaces