Development of a flexible tactile sensor system for a humanoid robot

Kerpa, Oliver; Weiss, K.P.; Wörn, Heinz

doi:10.1109/iros.2003.1250596

Cited by 106 publications

(63 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Firstly, a large drift is observed in the case that the sensor is not loaded at the starting point. This is also reported by other authors (Kerpa et al 2003) and a preload can improve the behavior of the sensor (Hollinger and Marcelo 2006;Cannata and Maggliali 2006). Secondly, for the remaining curves (except that not preloaded), a drift below 15%…”

Section: Conductivity Of the Polymer Filmsupporting

confidence: 83%

Tactile sensors based on conductive polymers

et al. 2009

View full text Add to dashboard Cite

This paper presents results from a selection of tactile sensors that have been designed and fabricated. These sensors are based on a common approach that consists in placing a sheet of piezoresistive material on the top of a set of electrodes. We use a thin film of conductive polymer as the piezoresistive material. Specifically, a conductive water-based ink of this polymer is deposited by spin coating on a flexible plastic sheet, giving it a smooth, homogeneous and conducting thin film. The main interest in this procedure is that it is cheap and it allows the fabrication of flexible and low cost tactile sensors. In this work we present results from sensors made using two technologies. Firstly, we have used a flexible Printed Circuit Board (PCB) technology to fabricate the set of electrodes and addressing tracks. The result is a simple, flexible tactile sensor. In addition to these sensors on PCB, we have proposed, designed and fabricated sensors with screen printing technology. In this case, the set of electrodes and addressing tracks are made by printing an ink based on silver nanoparticles. The intense characterization provides us insights into the design of these tactile sensors.

show abstract

Section: Conductivity Of the Polymer Filmsupporting

confidence: 83%

Tactile sensors based on conductive polymers

et al. 2009

View full text Add to dashboard Cite

show abstract

“…In the wrists 6D force/torque sensors (ATI Industrial Automation, www.ati-ia.com) are used for position and force control. Four planar skin pads (see [Kerpa et al, 2003]) are mounted to the front and back side of each shoulder, thus also serving as a protective cover for the shoulder joints. Similarly, cylindrical skin pads are mounted to the upper and lower arms, respectively.…”

Section: Technical Characteristicsmentioning

confidence: 99%

Applications of a Fluidic Artificial Hand in the Field of Rehabilitation

Kargov¹,

Ivlev²,

Pylatiuk³

et al. 2007

Rehabilitation Robotics

View full text Add to dashboard Cite

“…Recently, with the aim to determining physical properties and events through contact during object handling, we are in progress of developing a novel optical three-axis tactile sensor capable of acquiring normal and shearing force (Ohka et al, 2006). A tactile sensor system is essential as a sensory device to support the robot control system (Lee & Nicholls, 1999, Kerpa et al, 2003. This tactile sensor is capable of sensing normal force, shearing force, and slippage, thus offering exciting possibilities for application in the field of robotics for determining object shape, texture, hardness, etc.…”

Section: Future Development: Development Of Object Handlingmentioning

confidence: 99%