Algorithm Development for Distributed Force Estimation During Tactile Sensing / (Record no. 613929)
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| 000 -LEADER | |
|---|---|
| fixed length control field | 02214nam a22001577a 4500 |
| 082 ## - DEWEY DECIMAL CLASSIFICATION NUMBER | |
| Classification number | 610 |
| 100 ## - MAIN ENTRY--PERSONAL NAME | |
| Personal name | Zulfiqar, Nimra |
| 245 ## - TITLE STATEMENT | |
| Title | Algorithm Development for Distributed Force Estimation During Tactile Sensing / |
| Statement of responsibility, etc. | Nimra Zulfiqar |
| 264 ## - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE | |
| Place of production, publication, distribution, manufacture | Islamabad : |
| Name of producer, publisher, distributor, manufacturer | SMME- NUST; |
| Date of production, publication, distribution, manufacture, or copyright notice | 2025. |
| 300 ## - PHYSICAL DESCRIPTION | |
| Extent | 72p. |
| Other physical details | Soft Copy, |
| Dimensions | 30cm. |
| 500 ## - GENERAL NOTE | |
| General note | Vision-based tactile sensors provide an effective solution for robotic manipulation tasks<br/>requiring high sensitivity, such as grasping fragile objects. This research presents a tactile<br/>sensing approach based on a flat elastic skin embedded with visual markers and integrated with<br/>a depth camera on a parallel robotic gripper. A set of algorithms has been developed that process<br/>marker displacements to estimate distributed contact forces and contact areas during object<br/>interaction. These estimations are then utilized in computing distributed tactile pressure values<br/>and for detecting incipient slip through pressure variation analysis. The main contribution of<br/>this research is the development of a unified framework that integrates distributed force<br/>estimation with force-based contact detection and pressure-based slip detection for improved<br/>grasping of fragile objects. Specifically: (1) a marker tracking algorithm is proposed to detect<br/>surface deformation from the tactile skin, enabling distributed force estimation; (2) the<br/>estimated forces are used to compute pressure distribution maps and identify contact regions;<br/>and (3) a slip detection algorithm is introduced that leverages changes in the pressure field to<br/>reliably detect incipient slip during manipulation. Experimental results demonstrate that the<br/>proposed method achieves accurate slip detection with 98.9% success rate, and improves grasp<br/>reliability, achieving 99.5% success in real-time manipulation tasks. The integration of<br/>distributed force, pressure, and slip estimation significantly enhances robotic grasp stability<br/>and enables safe handling of delicate items.<br/> |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name entry element | MS Biomedical Engineering (BME) |
| 700 ## - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Supervisor : Dr. Muhammad Asim Waris |
| 856 ## - ELECTRONIC LOCATION AND ACCESS | |
| Uniform Resource Identifier | <a href=" http://10.250.8.41:8080/xmlui/handle/123456789/53233"> http://10.250.8.41:8080/xmlui/handle/123456789/53233</a> |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Source of classification or shelving scheme | |
| Koha item type | Thesis |
| Withdrawn status | Permanent Location | Current Location | Shelving location | Date acquired | Full call number | Barcode | Koha item type |
|---|---|---|---|---|---|---|---|
| School of Mechanical & Manufacturing Engineering (SMME) | School of Mechanical & Manufacturing Engineering (SMME) | E-Books | 06/26/2025 | 610 | SMME-TH-1137 | Thesis |