A Highly Sensitive Multimodal Tactile Sensing Module with Planar Structure for Dexterous Manipulation of Robots

Bok, Bo‐Gyu; Jang, Jin-Seok; Kim, Min-Seok

doi:10.1002/aisy.202200381

Cited by 5 publications

(1 citation statement)

References 38 publications

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“…Among most tactile sensors described in the literature [ 3 , 9 , 10 , 11 , 12 , 13 , 14 , 15 , 16 , 17 ], only a few are easily integrated into existing robotic grippers. The companies Touchence, XELA Robotics, and Contactile have developed sensor arrays that can be easily added to robotic grippers, mainly due to their small size.…”

Section: Introductionmentioning

confidence: 99%

Design, Fabrication, and Characterization of a Novel Optical Six-Axis Distributed Force and Displacement Tactile Sensor for Dexterous Robotic Manipulation

Leslie,

Córdova Bulens,

Redmond

2023

Sensors

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Real-time multi-axis distributed tactile sensing is a critical capability if robots are to perform stable gripping and dexterous manipulation, as it provides crucial information about the sensor–object interface. In this paper, we present an optical-based six-axis tactile sensor designed in a fingertip shape for robotic dexterous manipulation. The distributed sensor can precisely estimate the local XYZ force and displacement at ten distinct locations and provide the global XYZ force and torque measurements. Its compact size, comparable to that of a human thumb, and minimal thickness allow seamless integration onto existing robotic fingers, eliminating the need for complex modifications to the gripper. The proposed sensor design uses a simple, low-cost fabrication method. Moreover, the optical transduction approach uses light angle and intensity sensing to infer force and displacement from deformations of the individual sensing units that form the overall sensor, providing distributed six-axis sensing. The local force precision at each sensing unit in the X, Y, and Z axes is 20.89 mN, 19.19 mN, and 43.22 mN, respectively, over a local force range of approximately ±1.5 N in X and Y and 0 to −2 N in Z. The local displacement precision in the X, Y, and Z axes is 56.70 μm, 50.18 μm, and 13.83 μm, respectively, over a local displacement range of ±2 mm in the XY directions and 0 to −1.5 mm in Z (i.e., compression). Additionally, the sensor can measure global torques, Tx, Ty, and Tz, with a precision of of 1.90 N-mm, 1.54 N-mm, and 1.26 N-mm, respectively. The fabricated design is showcased by integrating it with an OnRobot RG2 gripper and illustrating real-time measurements during in simple demonstration task, which generated changing global forces and torques.

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Section: Introductionmentioning

confidence: 99%

Design, Fabrication, and Characterization of a Novel Optical Six-Axis Distributed Force and Displacement Tactile Sensor for Dexterous Robotic Manipulation

Leslie,

Córdova Bulens,

Redmond

2023

Sensors

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Three-dimensional micro-force measurement method based on broadband optical coherence

Liang,

Li,

Zhong

et al. 2024

Measurement

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Multimodal tactile sensing fused with vision for dexterous robotic housekeeping

Mao,

Liao,

Yuan

et al. 2024

Nat Commun

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As robots are increasingly participating in our daily lives, the quests to mimic human abilities have driven the advancements of robotic multimodal senses. However, current perceptual technologies still unsatisfied robotic needs for home tasks/environments, particularly facing great challenges in multisensory integration and fusion, rapid response capability, and highly sensitive perception. Here, we report a flexible tactile sensor utilizing thin-film thermistors to implement multimodal perceptions of pressure, temperature, matter thermal property, texture, and slippage. Notably, the tactile sensor is endowed with an ultrasensitive (0.05 mm/s) and ultrafast (4 ms) slip sensing that is indispensable for dexterous and reliable grasping control to avoid crushing fragile objects or dropping slippery objects. We further propose and develop a robotic tactile-visual fusion architecture that seamlessly encompasses multimodal sensations from the bottom level to robotic decision-making at the top level. A series of intelligent grasping strategies with rapid slip feedback control and a tactile-visual fusion recognition strategy ensure dexterous robotic grasping and accurate recognition of daily objects, handling various challenging tasks, for instance grabbing a paper cup containing liquid. Furthermore, we showcase a robotic desktop-cleaning task, the robot autonomously accomplishes multi-item sorting and cleaning desktop, demonstrating its promising potential for smart housekeeping.

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A Highly Sensitive Multimodal Tactile Sensing Module with Planar Structure for Dexterous Manipulation of Robots

Cited by 5 publications

References 38 publications

Design, Fabrication, and Characterization of a Novel Optical Six-Axis Distributed Force and Displacement Tactile Sensor for Dexterous Robotic Manipulation

Design, Fabrication, and Characterization of a Novel Optical Six-Axis Distributed Force and Displacement Tactile Sensor for Dexterous Robotic Manipulation

Three-dimensional micro-force measurement method based on broadband optical coherence

Multimodal tactile sensing fused with vision for dexterous robotic housekeeping

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