Signal processing of active force sensing on detecting contact state

Abstract

Contact task reliablity will be increased by detecting of contact state transition such as in assembly tasks and conveyance task. This paper proposes an active force sensing method where low frequency vibratory signal is added to the desired contact forces. Variation in contact forces that is syncronous to the vibratory input is extracted. Several experiments have shown that the proposed active sensing method could detect contact state transitions that were difficult to detect by passive methods.