A highly sensitive 3D-shaped tactile sensor

Kõiva, Risto; Zenker, Matthias; Schürmann, Carsten; Haschke, Robert; Ritter, Helge

doi:10.1109/aim.2013.6584238

Cited by 67 publications

(68 citation statements)

References 22 publications

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“…Our dexterous Shadow Robot hands are equipped with high-speed, piezo-resistive tactile sensors developed in previous work [16]. The sensor electrode, built as a 3D-shaped molded interconnection device (MID), provides 12 tactile sensing cells per fingertip, measuring normal forces.…”

Section: A Tactile Sensormentioning

confidence: 99%

Distinguishing sliding from slipping during object pushing

Meier

Walck

Haschke

et al. 2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-The advent of advanced tactile sensing technology triggered the development of methods to employ them for grasp evaluation, online slip detection, and tactile servoing. In contrast to recent approaches to slip detection, distinguishing slip from non-slip conditions, we consider the more difficult task of distinguishing different types of slippage. Particularly we consider an object pushing task, where forces can only be applied from the top. In that case, the robot needs to notice when the object successfully moves vs. when the object gets stuck while the finger slips over its surface. As an example, consider the task of pushing around a piece of paper.We propose and evaluate three different convolutional network architectures and proof the applicability of the method for online classification in a robot pushing task.

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Section: A Tactile Sensormentioning

confidence: 99%

Distinguishing sliding from slipping during object pushing

Meier

Walck

Haschke

et al. 2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…The additive printing and rapid prototyping techniques offer light-weight, costeffective sensor and actuator integration on complex geometries. [31][32][33][34] For flexible electronic applications, the mechanical properties of the printed metal patterns are as important as their electrical conductivity characteristics. We made an attempt to evaluate the mechanical characteristics of a printed strain gauge, as shown in Figure 9a, integrated on PI substrate and mounted on a thin sheet of Al 6061.…”

Section: Printed Sensor Characteristicsmentioning

confidence: 99%

Impact of Pulse Thermal Processing on the Properties of Inkjet Printed Metal and Flexible Sensors

Joshi

Kuruganti

Killough

2015

ECS J. Solid State Sci. Technol.

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We report on the low temperature processing of environmental sensors employing pulse thermal processing (PTP) technique to define a path toward flexible sensor technology on plastic, paper, and fabric substrates. Inkjet printing and pulse thermal processing technique were used to realize mask-less, additive integration of low-cost sensors on polymeric substrates with specific focus on temperature, humidity, and strain sensors. The printed metal line performance was evaluated in terms of the electrical conductivity characteristics as a function of post-deposition thermal processing conditions. The PTP processed Ag metal lines exhibited high conductivity with metal sheet resistance values below 100 m / using a pulse width as short as 250 μs. The flexible temperature and relative humidity sensors were defined on flexible polyimide substrates by direct printing of Ag metal structures. The printed resistive temperature sensor and capacitive humidity sensor were characterized for their sensitivity with focus on future smart-building applications. Strain gauges were printed on polyimide substrate to determine the mechanical properties of the silver nanoparticle films. The observed electrical properties of the printed metal lines and the sensitivity of the flexible sensors show promise for the realization of a high performance print-on-demand technology exploiting low thermal-budget PTP technique. In the past few years, additive material and device manufacturing techniques have been extensively investigated to meet the manufacturing technology demands of enhanced functionality, reduced material usages, smaller device dimensions, and higher throughput. [1][2][3][4][5][6] The emerging industry of organic, flexible, and printed electronics is bringing about new opportunities for large-scale, low-cost realization of advanced electronic devices. The range of materials which can be directly processed by additive manufacturing techniques to realize a complete electronic system is growing rapidly, and the material list includes polymer, ceramics, organic/inorganic semiconductors, biomaterials, conductive nanoparticles, dielectrics, ferromagnetic materials, and superconductors. Printed electronics by contact-free, inkjet based direct-write techniques show promise for use in a wide range of active and passive device applications, such as wearable electronics, electronic packaging, solid state lighting, photovoltaics, radio-frequency identification (RFIDs), wireless communication, biomedicine, and flexible displays. 7-15 Smart sensor systems combined with microsensor technology enable the capabilities to make units that are small, smart, and multifunctional. These advancements in sensor technology have the potential to revolutionize diverse technology platforms including building retrofits. Buildings consume up to 40% of energy produced in the US. 16,17 Advanced sensors and controls have the potential to reduce the energy consumption of the buildings by 20-40%. 18,19 Currently, installation and wiring costs for sensors are signifi...

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“…Although there exists an adaptation of the BioTac ® sensor to the anthropomorphic Shadow Dexterous Hand ™ [29], this integration design removes the distal finger joint, which is important in various manipulation tasks. Utilizing a new technology to realize 3D-shaped PCBs, Zenker et al [30] miniaturized the tactile sensor array, integrating 12 tactels and the measurement electronics within a fingertip-shaped sensor-electrode that exactly matches the size of the robotic fingertip (cf. Fig.…”

Section: High Resolution Tactile Sensingmentioning

confidence: 99%

Grasping and Manipulation of Unknown Objects Based on Visual and Tactile Feedback

Haschke

2015

Motion and Operation Planning of Robotic Systems

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The sense of touch allows humans and higher animals to perform coordinated and efficient interactions within their environment. Recently, tactile sensor arrays providing high force, spatial, and temporal resolution became available for robotics, which allows us to consider new control strategies to exploit this important and valuable sensory channel for grasping and manipulation tasks. Successful dexterous manipulation strongly depends on tight feedback loops integrating proprioceptive, visual, and tactile feedback. We introduce a framework for tactile servoing that can realize specific tactile interaction patterns, for example to establish and maintain contact (grasping) or to explore and manipulate objects. We demonstrate and evaluate the capabilities of the proposed control framework in a series of preliminary experiments employing a 16 × 16 tactile sensor array attached to a Kuka LWR arm as a large fingertip.

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A highly sensitive 3D-shaped tactile sensor

Cited by 67 publications

References 22 publications

Distinguishing sliding from slipping during object pushing

Distinguishing sliding from slipping during object pushing

Impact of Pulse Thermal Processing on the Properties of Inkjet Printed Metal and Flexible Sensors

Grasping and Manipulation of Unknown Objects Based on Visual and Tactile Feedback

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