A High-Speed Mesh of Tactile Sensors Fitting Arbitrary Surfaces

Shimojo, Makoto; Araki, Takaya; Ming, Aigou; Ishikawa, Masatoshi

doi:10.1109/jsen.2009.2034982

Cited by 64 publications

(29 citation statements)

References 16 publications

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“…Prior work on robotic sensing skins include exploiting bulk resistive skin properties [2], using row-column addressing schemes to multiplex the readout of sensors [3] [4] [5], or using local processors to compress data before transmission [6]. Still others do away entirely with conventional wires to use optical [7], radio frequency [8], or ad-hoc communication methods [9].…”

Section: Prior Work a Robotic Sensing Skinsmentioning

confidence: 99%

Towards a Minimal Architecture for a Printable, Modular, and Robust Sensing Skin

Buchan¹,

Bachrach²,

Fearing³

2014

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Section: Prior Work a Robotic Sensing Skinsmentioning

confidence: 99%

Towards a Minimal Architecture for a Printable, Modular, and Robust Sensing Skin

Buchan¹,

Bachrach²,

Fearing³

2014

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“…High density tactile sen- sors are required with the ability to detect various forces and soft surfaces such as the human hand. While many types of tactile sensors have previously been proposed [4,5,[23][24][25][26][27][28][29], high-density tactile sensor arrays that can simultaneously detect normal and shear forces using one sensor element have not yet been realized. In this study, we have proposed a tactile sensor with microcantilevers embedded in the elastomer (polydimethylsiloxane; PDMS) for dexterous robots and fabricated by MEMS technologies.…”

Section: Miniature Tactile Sensor Wiht Piezoresistive Micro-cantilevermentioning

confidence: 99%

Miniature Ultrasonic and Tactile Sensors for Dexterous Robot

Okuyama¹,

Yamashita²,

Noda³

et al. 2012

Transactions on Electrical and Electronic Materials

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Miniature ultrasonic and tactile sensors on Si substrate have been proposed, fabricated and characterized to detect objects for a dexterous robot. The ultrasonic sensor consists of piezoelectric PZT thin film on a Pt/Ti/SiO 2 and/or Si diaphragm fabricated using a micromachining technique; the ultrasonic sensor detects the piezoelectric voltage as an ultrasonic wave. The sensitivity has been enhanced by improving the device structure, and the resonant frequency in the array sensor has been equalized. Position detection has been carried out by using a sensor array with high sensitivity and uniform resonant frequency. The tactile sensor consists of four or three warped cantilevers which have NiCr or Si:B + piezoresistive layer for stress detection. Normal and shear stresses can be estimated by calculation using resistance changes of the piezoresitive layers on the cantilevers. Gripping state has been identified by using the tactile sensor which is installed on finger of a robot hand, and friction of objects has been measured by slipping the sensor.

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“…Fig. 4 shows the structure of IR-NSPS [9], [10], which was researched and developed in our laboratory. IR-NSPS consists of two layers of resistor networks, which are interconnected by phototransistors in a grid pattern.…”

Section: Introduction and Related Workmentioning

confidence: 99%

Robust robotic grasping using IR Net-Structure Proximity Sensor to handle objects with unknown position and attitude

Sha

Suzuki

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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In this paper, we focus on unknown parameters such as the position and attitude of the object, and describe a short-range, high-speed and noncontact sensing method for obtaining the position and attitude of the object using IR NetStructure Proximity Sensor ("IR-NSPS") which complements the dead region of sensory information between visual and tactile sensing. To be more precise, we propose two effective control methods which are pre-shaping and object positioning using IR-NSPS for robust grasping by adjusting the gripper configuration in response to attitude error of up to ±45 deg and the position error of up to ±80 mm of the unknown object.The methods therefore can significantly increase the speed and effectiveness of grasping objects without requiring a specific approach that depends on a vision sensor. Furthermore, to demonstrate the advantages of pre-shaping and object positioning, object grasping experiments were performed using these two operations to grasp objects placed randomly on a tabletop.

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A High-Speed Mesh of Tactile Sensors Fitting Arbitrary Surfaces

Cited by 64 publications

References 16 publications

Towards a Minimal Architecture for a Printable, Modular, and Robust Sensing Skin

Towards a Minimal Architecture for a Printable, Modular, and Robust Sensing Skin

Miniature Ultrasonic and Tactile Sensors for Dexterous Robot

Robust robotic grasping using IR Net-Structure Proximity Sensor to handle objects with unknown position and attitude

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