A net-structure tactile sensor covering free-form surface and ensuring high-speed response

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

doi:10.1109/iros.2007.4399084

Cited by 27 publications

(16 citation statements)

References 13 publications

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“…In our previous work, we 1 four side aspects and one bottom aspect have proposed the 'sensor flesh', the soft urethane exterior embedded with distributed 3-axis small force/torque sensors [10]. However, it has following problems to be solved.…”

Section: Features and Detection Theory Of Softmentioning

confidence: 99%

“…Although there are many studies on tactile sensing elements themselves [1] [2] [3] and some of them realize the mechanical softness of the element [4] [5], most of their studies just propose their detection theory with their sensor element prototypes and it is difficult to use them for developing soft tactile exterior. Therefore, many existing robots still don't have soft sensor exterior.…”

Section: Introductionmentioning

confidence: 99%

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Development of soft sensor exterior embedded with multi-axis deformable tactile sensor system

Kadowaki

Yoshikai

Hayashi

et al. 2009

RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication

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In some important robotic human daily life support applications, such as housework or nursing care, soft sensor exterior is needed for allowing close contacts against humans or environments. Although there are many studies on tactile sensing elements themselves and some of them realize the mechanical softness of the element, most of their studies just propose their detection theory with their sensor element prototypes and it is difficult to use them for developing soft tactile exterior. Therefore a soft sensor exterior embedded with multi-axis deformation sensor is developed in this paper. The most important feature for this sensor is that it can detect multi-axis deformation, and the sensor element itself has enough softness to deform with the outer exterior. The developed sensor is constructed by molding a soft urethane foam with infrared LEDs and corresponding phototransistors. It detects 3D deformation of the sensor as voltage changes at each phototransistors. Furthermore, a prototype of soft sensor exterior embedded with the developed sensing elements is realized and we confirmed that the 3D deformation, such as stroking, pinching, and pushing, can be detected using the developed sensor exterior prototype.

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Section: Features and Detection Theory Of Softmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Development of soft sensor exterior embedded with multi-axis deformable tactile sensor system

Kadowaki

Yoshikai

Hayashi

et al. 2009

RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication

View full text Add to dashboard Cite

show abstract

“…This sensor type has been modified as a tactile sensor for a robot gripper in [6]. An other approach using a tactile sensor [7] and an optical proximity sensor [8] without a spatial resolution has successfully been implemented in a robot gripper in [9]. In the palm an optical proximity sensor with a spatial resolution has been implemented.…”

Section: Introductionmentioning

confidence: 99%

Tactile proximity sensors for robotic applications

Göger

Alagi

Wörn

2013

2013 IEEE International Conference on Industrial Technology (ICIT)

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In this paper tactile proximity sensors for close human-robot interactions based on a previously developed sensor are introduced. Using the same sensing technology, we developed large area tactile proximity sensors as a robot skin and small sensors which we have integrated in an anthropomorphic robot hand. Tactile sensing in the area of robotics for close human interaction is still a challenging task. In the most cases tactile sen sors need to be supported by other sensor modalities to perceive the robots environment before contacts occur. To overcome this issue we developed tactile proximity sensors for robot surfaces and for robot grippers. Both sensors, their behaviour and a model of the tactile sensor will be discussed in this paper.

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“…These mechanisms cause problems that the shape of the robot is restricted and that the information processing time becomes long. On the other hand, concerning tactile sensors, some research enabled all-face mounting on free form surfaces [8,9]. But, since the tactile sensors do not work until contact, they cannot guarantee safety in the conditions where even light collision is not permitted.…”

Section: Introductionmentioning

confidence: 99%

“…This sensor is based on Net-Structure Tactile Sensor pro posed by Shimojo et al [9,10], and the detection area is extended in space by using infrared LED and photo transistors as the detection elements. The output signals indicate the center position of the nearby object and the distance from the sensor surface.…”

Section: Introductionmentioning

confidence: 99%

Development of a miniature foil type ultrasonic motor

Okamoto

Toyama

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper presents a proximity sensor for rec ognizing an object in 360 degrees all around with response time only l[ms]. The sensor applies an unique design of analog net-structure circuit, which enables all-face mounting on vari ous peripheries and fast-response/simplification of information processing. Thus, the sensor is especially available for avoiding sudden contact with rapidly approaching objects for mobile robots, robot arms, robot hands, and other robotic systems. In this paper, the structure and the detecting principle of the sensor are firstly described, then, its detection property is tested by experiments. The result shows that the sensor recognizes the angle of the nearby object with accuracy of 3[deg]. Fur thermore, as practical use of the sensor, a large size model is produced for a mobile robot to achieve omni-directional sensing. By using the application model, two detection methods are discussed on situations where the number or the positions of the nearby objects differs.

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A net-structure tactile sensor covering free-form surface and ensuring high-speed response

Cited by 27 publications

References 13 publications

Development of soft sensor exterior embedded with multi-axis deformable tactile sensor system

Development of soft sensor exterior embedded with multi-axis deformable tactile sensor system

Tactile proximity sensors for robotic applications

Development of a miniature foil type ultrasonic motor

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