A Robot Sensor for Measuring Thermal Properties of Gripped Objects

Russell, R. A.; Paoloni, F.J.

doi:10.1109/tim.1985.4315369

Cited by 20 publications

(7 citation statements)

References 2 publications

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“…As discussed in our previous work [3], [11], many robotic systems also benefit from thermal tactile sensors including active thermal sensors for discriminating between materials based on heat transfer or passive thermal sensors for identifying objects at different temperatures. For active thermal sensing, some researchers have used arrays of temperature sensors combined with a common resistive heating element to realize a thermal sensing array as seen in [12] and [13]. While most researchers use thermistors or resistance temperature detectors (RTDs) for temperature sensing, other devices including Peltier effect sensors [14], pyrometers [15] and more recently pectin films [16] have been used.…”

Section: Related Workmentioning

confidence: 99%

A force and thermal sensing skin for robots in human environments

Wade

Bhattacharjee

Williams

et al. 2017

Robotics and Autonomous Systems

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Section: Related Workmentioning

confidence: 99%

A force and thermal sensing skin for robots in human environments

Wade

Bhattacharjee

Williams

et al. 2017

Robotics and Autonomous Systems

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“…In this tactile sensor, resistance r, of noncontact face is disregarded because resistance r, of non-contact face is much larger than one of contact. Therefore, resistance R, of the tactile sensor is expressed as following by (1) because contact force given in a one face is P/m, (2) where r; is a resistance of one face in the rubber tactile sensor, k, is a constant. If n, is equal to 1, R, does not change by m, otherwise R, increase with m when n, is larger then 1, and decreases when n; is less than 1 [ 12].…”

Section: Surface Modelmentioning

confidence: 99%

A Discriminating Method of Three Mixed Tactile Information Using Pressure-Temperature Sensitive Materials

Yuji

Shida

1999

IEEJ Trans. SM

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For realizing an artificial skin-sensing device with multi-sensing functions, this paper proposes a discriminating method of three mixed tactile information, that is, contact force, temperature change and contact situation on surface models, using pressure-temperature sensitive materials despite one contact. The proposed discriminating method has two discrimination processing stages. First stage is a discrimination of only a temperature change. Second stage is a discrimination of a contact force and a contact situation at the same time. To demonstrate the proposed discriminating method , we adopted pressureconductive rubber sheets as pressure-temperature sensitive materials into tactile sensor materials because the rubber sheet has also a temperature dependency. A trial self-heating type pressure-conductive rubber tactile sensor is compared with one of the minute sense receptors of the human skin in this study. The ability of the trial tactile sensor was tested on various contact conditions using typical object samples. As experimental results, the usefulness of the proposed discriminating method was demonstrated.

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“…Using a simplified model transient response of the sensor has been examined theoretically. 8 The model is based on an assumption that the width of the sensor is much less than its cross section allowing the use of a one-dimensional model. It is further assumed that the sensor is a uniform block of silicone rubber with the temperature of one side held constant by the heat source and the other side in contact with a block of the unknown material whose far side is held at ambient temperature by the mass of metal in the robot gripper.…”

Section: Analysis Of the Sensor Datamentioning

confidence: 99%

Thermal sensor for object shape and material constitution

Russell

1988

Robotica

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SUMMARYThis paper describes a novel tactile sensor array designed to provide information about the material constitution and shape of objects held by a robot manipulator. The sensor is modeled on the thermal touch sense which enables humans to distinguish between different materials based on how warm or cold they feel. Some results are presented and methods of analysing the sensor data are discussed.

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A Robot Sensor for Measuring Thermal Properties of Gripped Objects

Cited by 20 publications

References 2 publications

A force and thermal sensing skin for robots in human environments

A force and thermal sensing skin for robots in human environments

A Discriminating Method of Three Mixed Tactile Information Using Pressure-Temperature Sensitive Materials

Thermal sensor for object shape and material constitution

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