A flexible capacitive tactile sensor for robot skin

Ji, Zhangping; Zhu, Hui; Liu, Huicong; Chen, Tao; Sun, Lining

doi:10.1109/icarm.2016.7606920

Cited by 10 publications

(5 citation statements)

References 15 publications

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“…Collision Detection Sensors: include visual and acoustic sensors [15], Doppler radar [16], tactile sensors [17], and Ultra Wideband (UWB) radar [18]. While some systems allow periodic exchange of position and velocity information between agents [19], [20], [21], other collision prediction systems are non-cooperative.…”

Section: Related Workmentioning

confidence: 99%

Collision Prediction from UWB Range Measurements

Abrar¹,

Luong²,

Spencer³

et al. 2020

Preprint

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The ability to predict, and thus react to, oncoming collisions among a set of mobile agents is a fundamental requirement for safe autonomous movement, both human and robotic. This paper addresses systems that use range measurements between mobile agents for the purpose of collision prediction, which involves prediction of the agents' future paths to know if they will collide at any time. One straightforward system would use known-location static anchors to estimate agent coordinates over time, and use the track to predict collision. Fundamentally, no fixed coordinate system is required for collision prediction, so using only the pairwise range between two agents can be used to predict collision. We present lower bound analysis which shows the limitations of this pairwise method. As an alternative anchor-free method, we propose the friend-based autonomous collision prediction and tracking (FACT) method that uses all measured ranges between nearby (unknown location mobile) agents, in a distributed algorithm, to estimate their relative locations and velocities and predict future collisions between agents. Using analysis and simulation, we show the potential for FACT to achieve equal or better collision detection performance compared to other methods, while avoiding the need for anchors. We then build a network of N ultra wideband (UWB) devices and an efficient multi-node protocol which allows all O(N 2 ) pairwise ranges to be measured in N slots. We run experiments with up to six independent robot agents moving and colliding in a 2D plane and up to four anchor nodes to compare the performance of the collision prediction methods. We show that the FACT method can perform better than either other method but without the need for a fixed infrastructure of anchor nodes.

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Section: Related Workmentioning

confidence: 99%

Collision Prediction from UWB Range Measurements

Abrar¹,

Luong²,

Spencer³

et al. 2020

Preprint

View full text Add to dashboard Cite

show abstract

“…Two eight-bit timers and one 16-bit timer were for interrupts. The peripheral had two SPI communication ports that were based on the USART protocol [31]. In order to realize the function of wireless communication, we configured an extra Bluetooth v4.0 RF Transceiver CC2540 (Texas Instruments, Dallas, TX, USA) with the transfer protocol of IEEE 802.15.4 standard in the 2.4 GHz band with a Figure 4 shows the block diagram of the whole WSMS units.…”

Section: Electric Circuitry For Wsmsmentioning

confidence: 99%

WSMS: Wearable Stress Monitoring System Based on IoT Multi-Sensor Platform for Living Sheep Transportation

Cui

Zhang

et al. 2019

Electronics

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Farming herdsmen, sheep dealers, and veterinarians are increasingly interested in continuously monitoring sheep basic physiological characteristics (such as the heart rate and skin temperature) outside the laboratory environment, with the aim of identifying the physiological links between stress, uncomfortable, excitement, and other pathological states. This paper proposes a non-invasive Wearable Stress Monitoring System (WSMS) with PhotoPlethysmoGram (PPG), Infrared Temperature Measurement (ITM), and Inertial Measurement Units (IMU) that aimed to remotely and continuously monitor the stress signs of sheep during transportation. The purpose of this study was implemented by following the multi-dimensional sensing platform to identify more pressure information. The designed WSMS showed sufficient robustness in recording and transmitting sensing data of physiology and environment during transport. The non-contact and non-destructive monitoring method that was proposed in this paper was helpful in minimizing the effects of sheep stress load.

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“…The design of textile touch sensing interaction was explored by Roh et al [ 20 ] in 2013 with the new metal composite embroidery yarns (MCEYs) and a simple and easy fabrication technique. In 2016, Ji et al [ 21 ] presented a flexible capacitive tactile sensor for robot skin, and a tactile feedback and signal acquisition system was built for the application of robotic obstacle avoidance. In 2017, Li et al first fabricated [ 22 ] a highly flexible multifunctional smart coating using spray-coating multiwalled carbon nanotubes dispersed in a thermoplastic elastomer solution, followed by treatment with ethanol.…”

Section: Introductionmentioning

confidence: 99%

The Progress of Research into Flexible Sensors in the Field of Smart Wearables

Yin

Guo

Hong

et al. 2022

Sensors

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In modern society, technology associated with smart sensors made from flexible materials is rapidly evolving. As a core component in the field of wearable smart devices (or ‘smart wearables’), flexible sensors have the advantages of excellent flexibility, ductility, free folding properties, and more. When choosing materials for the development of sensors, reduced weight, elasticity, and wearer’s convenience are considered as advantages, and are suitable for electronic skin, monitoring of health-related issues, biomedicine, human–computer interactions, and other fields of biotechnology. The idea behind wearable sensory devices is to enable their easy integration into everyday life. This review discusses the concepts of sensory mechanism, detected object, and contact form of flexible sensors, and expounds the preparation materials and their applicability. This is with the purpose of providing a reference for the further development of flexible sensors suitable for wearable devices.

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A flexible capacitive tactile sensor for robot skin

Cited by 10 publications

References 15 publications

Collision Prediction from UWB Range Measurements

Collision Prediction from UWB Range Measurements

WSMS: Wearable Stress Monitoring System Based on IoT Multi-Sensor Platform for Living Sheep Transportation

The Progress of Research into Flexible Sensors in the Field of Smart Wearables

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