Development of functional whole-body flesh with distributed three-axis force sensors to enable close interaction by humanoids

Hayashi, Mitsunori; Sagisaka, Takashi; Ishizaka, Yui; Yoshikai, Tomoaki; Inaba, Masayuki

doi:10.1109/iros.2007.4399360

Cited by 26 publications

(13 citation statements)

References 8 publications

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“…Pressure-based robotic skin systems include [11] and [13]. We apply a similar algorithmic strategies to capacitive sensing, which senses both human contact and close proximity touch.…”

Section: B Relation To Prior Workmentioning

confidence: 99%

Real-time social touch gesture recognition for sensate robots

Knight¹,

Toscano²,

Stiehl³

et al. 2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper describes the hardware and algorithms for a realtime social touch gesture recognition system. Early experiments involve a Sensate Bear test-rig with full body touch sensing, sensor visualization and gesture recognition capabilities. Algorithms are based on real humans interacting with a plush bear. In developing a preliminary gesture library with thirteen Symbolic Gestures and eight Touch Subtypes, we have taken the first steps toward a Robotic Touch API, showing that the Huggable robot behavior system will be able to stream currently active sensors to detect regional social gestures and local sub-gestures in realtime. The system demonstrates the infrastructure to detect three types of touching: social touch, local touch, and sensor-level touch.

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“…Pressure-based robotic skin systems include [11] and [13]. We apply a similar algorithmic strategies to capacitive sensing, which senses both human contact and close proximity touch.…”

Section: B Relation To Prior Workmentioning

confidence: 99%

Real-time social touch gesture recognition for sensate robots

Knight¹,

Toscano²,

Stiehl³

et al. 2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…Figure 4 shows diagrams of mechanisms for fixing soft material on a force sensor. As proposed in [19], consider that the fixation method used is a force sensor covered with soft material, as shown in the right example in Figure 4. This fixation method has two disadvantages:…”

Section: Compensation For Soft Materials Deformationmentioning

confidence: 99%

Whole-body tactile sensing through a force sensor using soft materials in contact areas

2014

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A force/torque sensor is a useful tool for detecting an external force acting on a robot. Techniques to detect a contact position from a single force/torque sensor have also been developed, but these have used rigid materials in the contact areas. In terms of safety, the material should have shock-absorbing characteristics. Hence, this paper investigates the use of a urethane sponge in the contact areas and evaluates the performance of contact point calculation. First, the relationship between the external force and the displacement of the urethane sponge is measured and a model of the deformation is discussed. Second, a compensation method for soft material deformation is proposed. Finally, the performance of the whole-body tactile sensing system is verified through several experimental results.

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“…In our previous work, we tried the method to distribute commercially available small 3-axis force-torque sensors inside thick urethane foam exterior [5], and we could achieve some close contact behavior of a humanoid robot by this method to some extent [11], [12], [13]. Although the accuracy of the measurement is guaranteed with this method, rigid body of the sensor ruins the softness of the exterior: humans can easily know the locations of the rigid sensors during interaction.…”

Section: Multi-axis Deformation Sensing During Closementioning

confidence: 99%

“…Therefore, those tactile sensing exterior is not sufficient to the close interaction since multi-axis force or deformation sensing is necessary during close contacts as stated above. In order to solve this problem, authors have developed 'sensor flesh' [5], which consists of thick urethane exterior embedded with distributed multi-axis force sensors. Although it can detect distributed 3-axis forces on realtime, the rigidness of the sensor ruins the softness of the exterior.…”

Section: Introductionmentioning

confidence: 99%

Development of 4-axis soft deformable sensor for humanoid sensor flesh

Yoshikai

Kobayashi

Inaba

2011

2011 11th IEEE-RAS International Conference on Humanoid Robots

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In order to achieve tactile sensing exterior for humanoid robots expected to have close interaction with humans or environments, not only the distribution of the sensors, but also softness of the sensor element itself and detection capability for multi-axis deformation are crucial. Although there's some studies on developing tactile sensor with both softness and multi-axis deformation, few of them can be applicable to humanoid exterior from viewpoint of embedding them inside the soft thick exterior. In our previous works, 20mm-cube 3-axis soft deformable sensor is developed. However, there is enough room to improve. In this paper, 4-axis soft deformable sensor unit is proposed. Proposed sensor can detect 3-axis rotational change including twisting direction, and 1-axis normal direction force. 3D rotation of the sensor is estimated by a pair of MEMS IMU boards. Although each of the outputs of IMUs are affected by motions or vibrations of the attached link, rotational deformation of the sensor can robustly estimated by monitoring the difference between them. Also, we have developed a prototype sensor flesh embedded with this deformation sensor for a humanoid robot, and the result of implemented reactive behavior against tactile sensation shows the feasibility of the proposed tactile sensor system.

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Development of functional whole-body flesh with distributed three-axis force sensors to enable close interaction by humanoids

Cited by 26 publications

References 8 publications

Real-time social touch gesture recognition for sensate robots

Real-time social touch gesture recognition for sensate robots

Whole-body tactile sensing through a force sensor using soft materials in contact areas

Development of 4-axis soft deformable sensor for humanoid sensor flesh

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