Evaluation of a Large Scale Event Driven Robot Skin

Bergner, Florian; Dean-León, Emmanuel; Guadarrama-Olvera, Julio Rogelio; Cheng, Gordon

doi:10.1109/lra.2019.2930493

Cited by 14 publications

(16 citation statements)

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A few recent research papers have demonstrated e-skin applications with event-based signaling and encoding using different implementations. [29,[175][176][177][178] For example, to address these challenges, Lee et al reported an asynchronously coded electronic skin (ACES)-a neuromimetic architecture that enables the simultaneous transmission of real-time tactile information with exceptionally low readout latencies, even with array sizes beyond 10 000 sensors (Figure 12c). [29] The prototype ACES system encodes signals by generating a signature signal for each sensor via a tiny microcontroller connected to each sensor and transmits the signals from all sensors through only one single wire.…”

Section: Event-based Accessmentioning

confidence: 99%

Bioinspired Prosthetic Interfaces

Ali

Cheng

et al. 2020

Adv Materials Technologies

View full text Add to dashboard Cite

Mechanical replacement prosthetics have advanced in both esthetics and mechanical functions, but still require progress in attaining full natural functionality via tactile feedback. Through bioinspiration of the somatosensory system, recent works in the development of materials and technologies at three critical interfaces have shown great advancements: skin‐inspired multifunctionality at the prosthetic level using flexible electronics, artificial transmission of the biosignals between the prosthesis and nervous system, and stimulation and recording of these signals with mechanically compliant, implantable neural interfaces. Herein, a systematic study of the artificial skin sensation pathways for the prosthetic interfaces is discussed together with the current state‐of‐the‐art technologies and prospective strategies to enable the complete sensory feedback loop in prosthetics through the use of biomimetic sensing platforms, artificial synapses, and neural interrogation electronics.

show abstract

Section: Event-based Accessmentioning

confidence: 99%

Bioinspired Prosthetic Interfaces

Ali

Cheng

et al. 2020

Adv Materials Technologies

View full text Add to dashboard Cite

show abstract

“…Long distance connections and high bandwidths increase the influences of noise, crosstalk, reflection, and distortion resulting in the loss of signals, and failures in the power distribution, that is, signal and power integrity are harder to maintain when distance and bandwidth increase. Consequently, realizing low-latency connections between the distributed tactile sensors and handling a large amount of tactile information (e.g., 1260 skin cells @ 250 Hz, clock-driven: 315,000 packets/s, 29 MB/s) [40] are both demanding challenges in LASSs.…”

Section: Low-latency (C-5) and Efficiency (C-6)mentioning

confidence: 99%

“…Our initial works [38][39][40] demonstrated the effectiveness of the event-driven approach for handling the large amount of tactile information of LASSs in various experimental setups. Now, this work intends to provide a solid foundation for realizing and understanding event-driven LASSs in general with an emphasis on three points.…”

Section: Introductionmentioning

confidence: 99%

Design and Realization of an Efficient Large-Area Event-Driven E-Skin

Bergner

Dean-León

Cheng

2020

Sensors

Self Cite

View full text Add to dashboard Cite

The sense of touch enables us to safely interact and control our contacts with our surroundings. Many technical systems and applications could profit from a similar type of sense. Yet, despite the emergence of e-skin systems covering more extensive areas, large-area realizations of e-skin effectively boosting applications are still rare. Recent advancements have improved the deployability and robustness of e-skin systems laying the basis for their scalability. However, the upscaling of e-skin systems introduces yet another challenge—the challenge of handling a large amount of heterogeneous tactile information with complex spatial relations between sensing points. We targeted this challenge and proposed an event-driven approach for large-area skin systems. While our previous works focused on the implementation and the experimental validation of the approach, this work now provides the consolidated foundations for realizing, designing, and understanding large-area event-driven e-skin systems for effective applications. This work homogenizes the different perspectives on event-driven systems and assesses the applicability of existing event-driven implementations in large-area skin systems. Additionally, we provide novel guidelines for tuning the novelty-threshold of event generators. Overall, this work develops a systematic approach towards realizing a flexible event-driven information handling system on standard computer systems for large-scale e-skin with detailed descriptions on the effective design of event generators and decoders. All designs and guidelines are validated by outlining their impacts on our implementations, and by consolidating various experimental results. The resulting system design for e-skin systems is scalable, efficient, flexible, and capable of handling large amounts of information without customized hardware. The system provides the feasibility of complex large-area tactile applications, for instance in robotics.

show abstract

“…The result is then passed to the motion execution stage, during which the planned joint trajectories are tracked as accurately as possible (Siciliano et al, 2009). For physical human-robot interaction (pHRI), these controllers rely on the prediction of robot collisions with the environment (Bergner et al, 2019;Lee and Song, 2015;Phan et al, 2011). As the reference trajectory cannot be modified during motion, the robot executes a stop reaction if a safety-related signal exceeds a pre-defined threshold (e.g., the distance between robot and environment is too small or the collision force with the environment is too large).…”

Section: Introductionmentioning

confidence: 99%

Energy budgets for coordinate invariant robot control in physical human–robot interaction

Lachner

Allmendinger

Hobert

et al. 2021

The International Journal of Robotics Research

View full text Add to dashboard Cite

In this work we consider the current certification process of applications with physical human–robot interaction (pHRI). Two major hazards are collisions and clamping scenarios. The implementation of safety measures in pHRI applications typically depends strongly on coordinates, e.g., to monitor the robot velocity or to predict external forces. We show that the current certification process does not, in general, guarantee a safe robot behavior. In particular, in unstructured environments it is not possible to predict all risks in advance. We therefore propose to control the energy of the robot, which is a coordinate invariant entity. For an impedance controlled robot, the total energy consists of potential energy and kinetic energy. The energy flow from task description to physical interaction follows a strict causality. We assign a safe energy budget for the robot. With this energy budget, the presented controller auto-tunes its parameters to limit the exchanged kinetic energy during a collision and the potential energy during clamping scenarios. In contact, the robot behaves compliantly and therefore eliminates clamping danger. After contact, the robot automatically continues to follow the desired trajectory. With this approach the number of safety-related parameters to be determined can be reduced to one energy value, which has the potential to significantly speed up the commissioning of pHRI applications. The proposed technique is validated by experiments.

show abstract

Evaluation of a Large Scale Event Driven Robot Skin

Cited by 14 publications

References 26 publications

Bioinspired Prosthetic Interfaces

Bioinspired Prosthetic Interfaces

Design and Realization of an Efficient Large-Area Event-Driven E-Skin

Energy budgets for coordinate invariant robot control in physical human–robot interaction

Contact Info

Product

Resources

About