A sensitive skin system for motion control of robot arm manipulators

Cheung, E.; Lumelsky, V.

doi:10.1016/0921-8890(92)90012-n

Cited by 41 publications

(19 citation statements)

References 1 publication

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“…Some researchers have studied three dimension sensor arrays that can detect shear forces [8]. Other sensors of different types have been reported so far: piezo-resistor [9,10], capacitive [11,12], optical [13][14][15] and piezoelectric [16][17][18][19] ones. Furthermore unique ideas for the sensors have been reported such as conducting fluid [20], organic transistors [21,22], electron tunneling [23,24], ultrasonic [25,26], magneto-resistive [27,28] and field emission [29] applications.…”

Section: Introductionmentioning

confidence: 99%

Electrode for Force Sensor of Conductive Rubber

Ohmukai¹,

Kami²,

Matsuura³

2012

JST

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Tactile sensors are believed to be a key element in order to realize robotic fingers to catch a fragile object without damage. Force sensitive conductive rubber is a low-cost material and then attractive for the application to tactile sensors. We have studied the effect of electrodes attached to the rubber sheets. We have tried four kinds of electrodes: vacuum deposited Al, adhesive Cu tape, Al thin film sheet and silver paste. It can be concluded that vacuum deposited Al has the highest potential from the practical point of view; it has the widest dynamic range and good precision at the same time

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Section: Introductionmentioning

confidence: 99%

Electrode for Force Sensor of Conductive Rubber

Ohmukai¹,

Kami²,

Matsuura³

2012

JST

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“…In unknown environments, for the most part, obtaining a complete analytic solution is difficult due to the uncertainty of the environments. Although several attempts have been made to demonstrate global convergence in unknown environments [4][5], few literatures have been reported successful in this area.…”

Section: Random Sampling In Unknown Environmentsmentioning

confidence: 99%

“…Since the lower bound of Euclidean travel distance is the major interest in the sensor-based path-planning, limitation immediately comes into play with the expansion of the theory to higher degrees of freedom robots. One significant breakthrough made in this area, though, is the sensitive skin developed by Cheung and Lumelsky [4], in which the obstacle contour following technique is proposed as a means to guide a robot when the robot is encountered by an obstacle. The sensitive skin that covers the entire body enables it to obtain a normal vector to the tangent plane of a contact point of a c-space obstacle.…”

Section: Introductionmentioning

confidence: 99%

“…The sensitive skin that covers the entire body enables it to obtain a normal vector to the tangent plane of a contact point of a c-space obstacle. The original sensation means proposed in [4] had been evolved to what is known as "modularized skin patches" [6], where flexible, paper-like sensor patches are made to comply with virtually any geometric contour for collision detection and motion planning purposes.…”

Section: Introductionmentioning

confidence: 99%

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Sensor Based Randomized Diffusion Planner for Higher Order Manipulators in Unknown Environments

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Unknown environment motion planning with no world model is a daunting task, especially for higher order manipulators. Sensor based planning is a dominant trend for planners in unknown environments. However, unknown environment planning, while important, still falls short of practical solutions for higher order manipulators. An amelioration proposed herein is to make use of a ramification of model-based approaches with mobile sensation. In this paper, we demonstrate how randomized planning techniques developed for model-based planners can be adopted to deal with planning problems of higher order manipulators in the midst of unknown obstacles. No other study has reported useful results on unknown environment planning utilizing model-based theories.The proposed planner is rendered to handle cases where non-sequential random sampling or randomized road map generation is infeasible due to the absence of a world model. For simplicity, the classical lattice planner, or incremental grid sampling, is considered with mobile sensation for probabilistically biased searches. For mobile sensation, we introduce a novel collision detection sensor, namely Infrared Proximity Array (IPA), that is designed to enable samplings in an unknown configuration space. The proposed planner together with the IPA demonstrated some useful results on unknown environment planning problems utilizing a modelbased sampling approach. As a performance measure of the planner, resolution completeness of the proposed planner is investigated from the topological standpoint as well.

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“…An optical three axial tactile sensor capable of measuring normal and shear forces is reported in (Ohka, Kobayashi et al 2006). Some cases of large area skin based on LEDs (light-emitting diodes) has also been reported (Cheung & Lumelsky 1992;Ohmura, Kuniyoshi et al 2006). Optical based tactile sensors are immune to electromagnetic interference, are flexible, sensitive and fast, but at times they are bulky.…”

Section: Optical Sensorsmentioning

confidence: 99%