Effects of the elastic cover on tactile sensor arrays

Vásárhelyi, Gábor; Ádám, M.; Vázsonyi, É.; Bársony, I.; Dücső, Csaba

doi:10.1016/j.sna.2006.01.009

Cited by 45 publications

(31 citation statements)

References 7 publications

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“…Vásárhe-lyi et al [16] analysed the mechanical information-coding effects of a rubber layer applied on single-crystalline silicon 3D force sensors capable of detecting normal and shear forces. Their work refers only to a specific elastomer and is focused mainly on the correlation between the performance of the tactile sensor and the geometrical characteristics of the elastic medium (e.g., on the use of ridges to detect tangential force components).…”

Section: Piezo-capacitive Sensing Principlementioning

confidence: 99%

Soft dielectrics for capacitive sensing in robot skins: Performance of different elastomer types

Maiolino

Galantini

Mastrogiovanni

et al. 2015

Sensors and Actuators A: Physical

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Section: Piezo-capacitive Sensing Principlementioning

confidence: 99%

Soft dielectrics for capacitive sensing in robot skins: Performance of different elastomer types

Maiolino

Galantini

Mastrogiovanni

et al. 2015

Sensors and Actuators A: Physical

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“…Human tactile transduction is a complex energy conversion mechanism involving populations of mechanosensitive afferent fibers innervating the distal fingerpad and the skin with its different layers including fingerprints (Scheibert et al, 2009;Candelier et al, 2011;Vasarhelyi et al, 2006;Oddo et al, 2011). In the artificial emulation of a tactile sense, soft materials play a crucial role for potential future deployment in domains such as hand prosthetics: indeed, soft materials can increase the size of the contact area, thanks to their higher conformability, increase the contact friction coefficient (and thus the grasp stability), protect distributed embedded sensors, which also provide better contact information, improve cosmetics, the latter being a relevant feature to enhance the final acceptability by the end user (Cabibihan et al, 2006).…”

Section: Soft Artificial Skinmentioning

confidence: 99%

“…The soft and pulpy tissue that is present between the skeletal bone and the skin addresses several functions, such as dissipating mechanical energy during impacts and protecting the bone tissues from lesions; because of its softness and the elastic nature of the skin, the pulpy tissue can conform to most uneven surfaces of commonly used objects; further, due to its viscoelastic nature, it dissipates strain energy that is induced during manipulation of rigid objects, thus stabilizing the interaction (Montana, 1992;Wettels et al, 2008). The packaging used in sensors for synthetic skin is mainly based on polymeric materials, such as silicone elastomers (e.g., polydimethylsiloxane in Dow Corning Sylgard 184 ® PDMS, polyorganosiloxanes, and silica in Smooth-on DragonSkin™ and Ecoflex © ) and polyurethane rubbers (e.g., toluene diisocyanate and polyols in Polytek ® Poly-74 Series) (Vasarhelyi et al, 2006;Vasarhelyi et al, 2007). Therefore, the fabrication of soft robotic fingers, possibly with microstructures such as fingerprints, is important for a safer, more stable, and reliant interaction with handled objects (Shimoga and Goldenberg, 1992).…”

Section: Soft Artificial Skinmentioning

confidence: 99%

Biomimetic tactile sensing

Dahiya¹,

Oddo²,

Mazzoni³

et al. 2015

Biomimetic Technologies

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What would happen if we had all sense modalities but the "touch?" A simple experiment of manipulating objects after putting hands on an ice block for a moment can probably provide an answer to this question. In one such experiment, the skin on a volunteer's hand was anesthetized so that tactile information from mechanoreceptors-the specialized nerve endings that respond to mechanical stimulation-was no longer available to the brain (Westling and Johannson, 1984). It was observed that even though volunteers could see what they were doing, they could no longer maintain a stable grasp of the objects. This indicates that the movements become inaccurate and unstable in the absence of "sense of touch." The difficulties that humans could face in the absence of sense of touch also point toward the importance of touch sense modality in robots, especially when they are expected to work in a human environment.The touch sensing allows us to assess the size, shape, softness, and texture of objects. It helps us understand the interaction behaviors of the real world objects-which depend on their weight; stiffness; on how their surface feels when touched; how they deform on contact; and how they move when pushed. In applications such as robotics, tactile information is useful in a number of ways. In manipulative tasks, the tactile data are used as a control parameter and the tactile information typically includes contact point estimation, surface normal and curvature measurement, and slip detection (Fearing, 1990;Howe, 1994). A measure of the contact forces (both magnitude and direction) allows the grasp force control-needed to maintain stable grasps. In a real world interaction that involves, both, manipulative and exploratory tasks, the tactile information such as hardness/softness (Shikida et al., 2003), temperature, and vibrations are needed to understand diverse properties of the contacted objects.The need for suitable tactile sensing system in robotics has resulted in a large number of touch sensors and tactile sensing arrays by exploring nearly all modes of transduction, viz., resistive, capacitive, piezoelectric, magnetic, quantum tunneling, etc. (Dahiya et al., 2010b;Lee and Nicholls, 1999;Dahiya and Valle, 2013). Currently, many research groups are also working toward developing skin-like artificial systems for large area tactile sensing. However, the touch sensor technology developed so far is largely insufficient for robotics, even if there is significant success in other areas such as mobile telephony. This could be attributed to a number of factors such as availability of less than satisfactory sensory skins, insufficient methods of processing tactile data, the lack of systems approach, and the lack of mechanical flexibility and robust sensory structures. Often, tactile data are processed with techniques adapted from visual data processing, which may not be a correct approach as the touch sensing is distributed over a much broader area than vision. As a Biomimetic Technologies. http://dx.

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“…Packaging used in sensors for synthetic skin is mainly based on polymeric materials, such as silicone elastomers (e.g., polydimethylsiloxane in Dow Corning Sylgard 184 ® PDMS, polyorganosiloxanes and silica in Smooth-on DragonSkin™ and Ecoflex © ) and polyurethane rubbers (e.g., toluene diisocyanate and polyols in Polytek ® Poly-74 Series) [3,67]. Elastomers are useful due to their compliant nature, their resistance to temperature changes, mechanical toughness and “self-healing” properties.…”

Section: Artificial Tactile Sensingmentioning

confidence: 99%

Synthetic and Bio-Artificial Tactile Sensing: A Review

Lucarotti

Oddo

Vitiello

et al. 2013

Sensors

133

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This paper reviews the state of the art of artificial tactile sensing, with a particular focus on bio-hybrid and fully-biological approaches. To this aim, the study of physiology of the human sense of touch and of the coding mechanisms of tactile information is a significant starting point, which is briefly explored in this review. Then, the progress towards the development of an artificial sense of touch are investigated. Artificial tactile sensing is analysed with respect to the possible approaches to fabricate the outer interface layer: synthetic skin versus bio-artificial skin. With particular respect to the synthetic skin approach, a brief overview is provided on various technologies and transduction principles that can be integrated beneath the skin layer. Then, the main focus moves to approaches characterized by the use of bio-artificial skin as an outer layer of the artificial sensory system. Within this design solution for the skin, bio-hybrid and fully-biological tactile sensing systems are thoroughly presented: while significant results have been reported for the development of tissue engineered skins, the development of mechanotransduction units and their integration is a recent trend that is still lagging behind, therefore requiring research efforts and investments. In the last part of the paper, application domains and perspectives of the reviewed tactile sensing technologies are discussed.

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Effects of the elastic cover on tactile sensor arrays

Cited by 45 publications

References 7 publications

Soft dielectrics for capacitive sensing in robot skins: Performance of different elastomer types

Soft dielectrics for capacitive sensing in robot skins: Performance of different elastomer types

Biomimetic tactile sensing

Synthetic and Bio-Artificial Tactile Sensing: A Review

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