Modeling the Effects of Contact Sensor Resolution on Grasp Success

Abstract

This letter presents a quantitative method for analyzing the effect of sensor resolution on grasp stability prediction. Resolution limits for contact sensors are expressed as a range of contact locations and contact surface normals that cannot be disambiguated by the sensor. Grasp quality is assessed at the limits of this range to determine whether the uncertainties caused by sensor resolution lead to uncertainty in grasp outcome prediction. The analysis also enables calculation of the specific contact locations on an object where the tactile sensors are trustworthy and where the object is reliably graspable. Our approach lays the foundation for quantitative evaluation in design tradeoffs in sensor choices and sensor layout, as well as finger shapes and materials.