A net-structure tactile sensor covering freeform surface with reduced wiring

To achieve the skillful task like the human, many researchers have been working on robot hand. An interaction with vision and tactile information are indispensable for realization of skillful tasks. In the existing research, the method using a camera to get the vision information is often found. But, in the boundary area of a non-contact phase and a contact phase, there are problem that lack of sensor information because the influence of occlusion comes up to surface. We devise to introduce the proximity sensor in this area. And we call the robot hand which is equipped with proximity, tactile and slip sensor "intelligent robot hand".In this research, we show the constitution example of the intelligent robot hand and propose the method to realize Pick&Place as concrete task.

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“…The proximity sensor used was a net-structure proximity sensor we developed [12] [13]. Fig.3 shows its structure.…”

Section: B Net-structure Proximity Sensormentioning

confidence: 99%

Development of intelligent robot hand using proximity, contact and slip sensing

Hasegawa

Mizoguchi²,

Tadakuma

et al. 2010

2010 IEEE International Conference on Robotics and Automation

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“…Continuous distributed sensing has also been achieved based on boundary measurements and complex data processing, such as four-wire schemes [43,44,[49][50][51][52] and the technique of electrical impedance tomography (EIT) [53]. Four wire schemes are limited to detecting a single stimulus [44,51,54,55], while EIT is able to detect not only multiple stimuli but also their amplitudes [38,42,[56][57][58][59][60][61][62][63][64][65][66][67][68]. Compared with array sensors, while continuous sensors avoid the problem of signal crosstalk, they require more sophisticated data acquisition [69] and data processing methods [70].…”

Section: Introductionmentioning

confidence: 99%

Compliant multi-layer tactile sensing for enhanced identification of human touch

Chen

Bruck

et al. 2018

Smart Mater. Struct.

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Tactile sensing is of interest for facilitating interactions between robots and humans. To aid the robot’s interpretation of human contact, the use of a multi-layer cutaneous tactile sensing architecture that can provide more information and an expanded force sensing range was explored, revealing differences in the signal generated by a machine versus a human. The multi-layer system consisted of two stretchable sensing skins alternating with two foam layers of different stiffness. When human touch was compared with machine indentation, a large variability in human touch was found. Thus, although the topmost skin, placed over a soft foam, was able to better recognize light contacts, a second underlying skin, placed over a harder foam, was required to gauge stronger human contacts. Out-of-plane touch modalities, such as tapping and punching, could be identified using strip-shaped skins having just two electrodes. To provide distributed sensing, the technique of electrical impedance tomography was employed with the multi-layer architecture using larger-area skins having electrodes around the perimeter. Distributed touch modalities, such as multi-point finger presses and sliding, were distinguished from single-point pressing. The distributed multi-layer sensing system also had the ability to assess higher-force touches.

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“…The last category is to develop elastic circuits with elastic materials [7,8]. This category also includes a net structure that realizes a stretchable surface using nonstretch strings [9]. Although the above mentioned methods have realized the flexibility in each scene, a skin easily attached to any part of a robot and having sufficient spatial and intensive resolution remains to be realized.…”

Section: Introductionmentioning

confidence: 99%

Flexible Tactile Sensor Skin Using Wireless Sensor Elements Coupled with 2D Microwaves

Shinoda¹,

Chigusa²,

Makino³

2010

J. Robot. Mechatron.

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The stretchable sensor skin we propose uses microwaves propagating in a two-Dimensional Signal Transmission (2DST) sheet. A small tactile sensor chip with a pair of Resonant Proximity Connectors (RPCs) couples with 2D microwaves carrying signals. Chip operating power is also supplied by 2D microwaves. The RPC is a spiral electrode whose arc length is a quarter of the electromagnetic wavelength. Chip operating power is supplied by 2D microwaves. Sensor chips are connected to the 2DST sheet by RPCs without electrical contacts anywhere on the sheet. Resonance induced at the electrode reduces impedance between the connector and the conductive layer of the 2DST sheet, enabling sensor chips to be connected stably to the sheet. Experimental results on the RPC show the concept to be effective. We fabricated a 1-bit (touch detection) tactile sensor element consisting of a RFID-tag and RPCs, and confirmed in experiments that the sensor element operates in a stretchable 2DST sheet.

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A net-structure tactile sensor covering freeform surface with reduced wiring

Cited by 3 publications

References 15 publications

Development of intelligent robot hand using proximity, contact and slip sensing

Development of intelligent robot hand using proximity, contact and slip sensing

Compliant multi-layer tactile sensing for enhanced identification of human touch

Flexible Tactile Sensor Skin Using Wireless Sensor Elements Coupled with 2D Microwaves

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