A new multifunctional tactile sensing technique by selective data processing

Yuji, Jun-ichiro; Shida, Katsunori

doi:10.1109/19.872935

Cited by 37 publications

(22 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In the past several years, some polymer composites containing dispersed conducting particles in an insulating polymer matrix have been studied for applications such as thermistors, 1 pressure sensors, 2,3 tactile sensors, 4,5 and gas sensors. 6 The electrical resistivity of such a composite critically depends on the volume fraction of the conducting filler particles that is well explained by the percolation theory.…”

Section: Introductionmentioning

confidence: 99%

Conductivity and piezoresistivity of conductive carbon black filled polymer composite

Wang

Ding

2010

J of Applied Polymer Sci

View full text Add to dashboard Cite

Dispersing conductive carbon black (CCB) particles into silicone rubber (SR), we studied the conductivity and piezoresistivity of particles filled polymer composite. The experimental results show that the conductive percolation threshold and shape exponent of composite are effected on by filler's size and reduce with filler's size decreasing. The electrical resistance and Young's model of composite have different critical filler volume fraction to fall or increase. The compressing deformation is the main reason of the piezoresistivity of composite, but the piezoresistivity is more obvious when particles have larger size or polymer matrix has smaller Young's Model. A research was done to explain the piezoresistivity through comparing CCB/SR with CCB/high density polythene (HDP). The other interesting find is that the electrical resistance of composite decreases with time under an invariant load, showing ''electrical resistance creep'' behavior, which is due to the composite's compressing strain creep under uniaxial pressure.

show abstract

Section: Introductionmentioning

confidence: 99%

Conductivity and piezoresistivity of conductive carbon black filled polymer composite

Wang

Ding

2010

J of Applied Polymer Sci

View full text Add to dashboard Cite

show abstract

“…1) Hardware-centric: Many researchers have included thermal sensing as a part of multimodal tactile sensing hardware, such as absolute temperature sensors [10], [11] and sensors that use heat transfer [12], [13], [14], [15], [16]. However, this body of work focuses on hardware development with little evaluation of material recognition performance.…”

Section: B Long-duration Contact With Consistent Initial Conditionsmentioning

confidence: 99%

Material Recognition from Heat Transfer given Varying Initial Conditions and Short-Duration Contact

Bhattacharjee¹,

Wade²,

Kemp³

2015

Robotics: Science and Systems XI

View full text Add to dashboard Cite

Abstract-When making contact with an object, a robot can use a tactile sensor consisting of a heating element and a temperature sensor to recognize the object's material based on conductive heat transfer from the tactile sensor to the object. When this type of tactile sensor has time to fully reheat prior to contact and the duration of contact is long enough to achieve a thermal steady state, numerous methods have been shown to perform well. In order to enable robots to more efficiently sense their environments and take advantage of brief contact events over which they lack control, we focus on the problem of material recognition from heat transfer given varying initial conditions and short-duration contact. We present both modelbased and data-driven methods. For the model-based method, we modeled the thermodynamics of the sensor in contact with a material as contact between two semi-infinite solids. For the data-driven methods, we used three machine learning algorithms (SVM+PCA, k-NN+PCA, HMMs) with time series of raw temperature measurements and temperature change estimates. When recognizing 11 materials with varying initial conditions and 3-fold cross-validation, SVM+PCA outperformed all other methods, achieving 84% accuracy with 0.5 s of contact and 98% accuracy with 1.5 s of contact.

show abstract

“…It seems that most of them have been functional to the measurement of just force magnitude (e.g., Leineweber et al 2000;Yu et al 2003;Ohka et al 2005). On the other hand, the artificial finger skin with static friction sensation (Fujimoto et al 2004) and the multifunctional sensing of contact force, temperature change, and contact face (Yuji and Shida 2000) has been proposed. However, these studies have focused on the control of robot fingers and the detection of the physical characteristics on material objects.…”

Section: Introductionmentioning

confidence: 99%

Development of a sensor system for collecting tactile information

Tanaka

Chonan

2006

Microsyst Technol

View full text Add to dashboard Cite

This paper presents the development of a sensor system for collecting tactile information. An active sensing system using the piezoelectric effect and the pyroelectric effect of a PVDF (Polyvinylidene fluoride) film is proposed. The active sensing is designed with human motions for tactile perception in mind. First, as the pretest, the distinction examination of six fabrics with different textures is carried out through human tactile perception. Next, the proposed sensor system is assembled. The sensor is composed of a PVDF film and a soft rubber. The surface of the sensor can be heated through temperature control. The sensor is attached on the tip of a robot finger driven by a piezoelectric bimorph strip and the root of the finger is mounted on a linear slider. Two kinds of active sensing are introduced. First, the heated sensor is contacted with an object and pyroelectric output signals are collected in order to obtain the information on tactile warmth. Next, the heated sensor is slid over the object and piezoelectric output signals are collected in order to obtain the information on feelings of vibration. Through the discussion about each sensing, three indexes representing features of the collected data are extracted and proposed as the sensor outputs for the evaluation of tactile sensation. The measurement using the sensor system is done on the samples used in the distinction examination. Comparison with the results shows that the sensor system extracts features on feelings of vibration and warmth.

show abstract

A new multifunctional tactile sensing technique by selective data processing

Cited by 37 publications

References 7 publications

Conductivity and piezoresistivity of conductive carbon black filled polymer composite

Conductivity and piezoresistivity of conductive carbon black filled polymer composite

Material Recognition from Heat Transfer given Varying Initial Conditions and Short-Duration Contact

Development of a sensor system for collecting tactile information

Contact Info

Product

Resources

About