A Brief Review Focused on Tactile Sensing for Stable Robot Grasping Manipulation

In this paper, we briefly investigate recently published literature on robot grasping with tactile information to understand the effect introduced by tactile modality and summarize the current issues of tactile sensing. Moreover, this paper consists of a review of slip detection during grasping, a review of grasp stability assessment to estimate the current contact state and a review of regrasp to select appropriate grasp adjustment action. Finally, we discuss the current limitations and deficiencies that prevent researchers from using tactile sensors, making it challenging to incorporate tactile modalities into robot perception and properly utilize tactile information to achieve effective and stable grasp performances. We consider that the pipeline consisting of grasp outcome prediction and grasp action adjustment based on machine learning is an appropriate scheme to make full use of tactile information and its potential in robot grasping tasks. More studies in this field are expected in the future.