Flexible tactile sensor array for distributed tactile sensing and slip detection in robotic hand grasping

Wang, Yancheng; Wu, Xingkun; Mei, Deqing; Zhu, Linli; Chen, Jianing

doi:10.1016/j.sna.2019.07.036

Cited by 94 publications

(41 citation statements)

References 21 publications

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“…During the sliding stage, the compression stress in the left region (marked as L ) is generally increased and becomes greater than that in the right region (marked as R ), as shown in Figure 5b,d. This phenomenon has been confirmed by other studies [11,12] and can be attributed to the torque caused by the friction between the flat plate and the PDMS bump. The shear deformation of the sensing unit also occurred during sliding movement.…”

Section: Resultssupporting

confidence: 86%

“…The distance between adjacent units is about 3.5 mm, and thus the overall dimensions of the tactile sensor array are 20 mm × 16 mm × 1.4 mm. A detailed structural design of the flexible tactile sensor array can be found in one of the references [12].…”

Section: Design Of Tactile Sensor Array and Fem Modelingmentioning

confidence: 99%

“…The developed flexible tactile sensor array was attached to a plastic loading bar, which was mounted to a z -axis motion stage. A scanning circuit based on digital signal processing (TMS320F2812, Texas Instruments Inc, Dallas, TX, USA) was designed and used for the distributed normal and shear forces measurement [12]. During the experiments, two types of surfaces (flat surface and grooved surface) made using stereolithography (SLA) technique were utilized.…”

Section: Experimental Setup and Proceduresmentioning

confidence: 99%

“…In the past decade, developments in the tactile sensor array have attracted many researchers, and several types of tactile sensor array have been proposed [8,9,10]. Recently, we utilized conductive rubber as the sensing material to develop a flexible tactile sensor array with 3 × 3 sensing units which can be worn on the finger of a robotic hand and can measure three-axis contact forces during grasping applications [11,12]. The contact behavior of the sensor array with objects affects the contact force sensing performance of the tactile sensor array we developed.…”

Section: Introductionmentioning

confidence: 99%

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Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement

2019

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Flexible tactile sensor with contact force sensing and surface texture recognition abilities is crucial for robotic dexterous grasping and manipulation in daily usage. Different from force sensing, surface texture discrimination is more challenging in the development of tactile sensors because of limited discriminative information. This paper presents a novel method using the finite element modeling (FEM) and phase delay algorithm to investigate the flexible tactile sensor array for slippage and grooved surfaces discrimination when sliding over an object. For FEM modeling, a 3 × 3 tactile sensor array with a multi-layer structure is utilized. For sensor array sliding over a plate surface, the initial slippage occurrence can be identified by sudden changes in normal forces based on wavelet transform analysis. For the sensor array sliding over pre-defined grooved surfaces, an algorithm based on phase delay between different sensing units is established and then utilized to discriminate between periodic roughness and the inclined angle of the grooved surfaces. Results show that the proposed tactile sensor array and surface texture recognition method is anticipated to be useful in applications involving human-robotic interactions.

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Section: Resultssupporting

confidence: 86%

Section: Design Of Tactile Sensor Array and Fem Modelingmentioning

confidence: 99%

Section: Experimental Setup and Proceduresmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement

2019

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“…Among them, slip detection is important information for a robot to stably grasp objects, especially flexible objects. The flexible tactile sensor array made of conductive rubber has the ability to detect distributed contact force and sliding [10]. A large-area, fully-flexible tactile sensor array is developed with 12 units that can so as to cover the entire palm.…”

Section: Introductionmentioning

confidence: 99%

Triboelectric Self-Powered Three-Dimensional Tactile Sensor

Wang

Sun

Li³

et al. 2020

IEEE Access

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Three-dimensional tactile sensing in smart devices is witnessing an increasing demand. In this study, a three-dimensional tactile sensor is proposed according to the principle of triboelectricity by using polydimethylsiloxane (PDMS) and polyethylene oxide (PEO) films. Use of PDMS-ZnO composite films increases the output voltage of the electrodes. The sensor is designed with a cross beam-shaped pressure head to enable sensing normal forces in five directions. The working mechanism of the sensor is analyzed using the finite element method. The calculation results indicate a linear relationship between the output voltage and the force. The simulation results also demonstrate that the output voltage is linearly correlated with the applied force in the range of 1-30 N. Test results show that the sensor can sense the magnitude, frequency, and direction of the force as well as measure the duration of the force. The hardness of the object has a significant effect on the output voltage. Finally, the sensor is tested on a manipulator grasping an object to demonstrate its ability to sense the contact and sliding of the object.

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Scalable Imprinting of Flexible Multiplexed Sensor Arrays with Distributed Piezoelectricity‐Enhanced Micropillars for Dynamic Tactile Sensing

Chen

Shao

Tian

et al. 2020

Adv Materials Technologies

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The ongoing revolution of human–robot interactions and electronic skins has created new requirements for tactile sensors, including good mechanical flexibility, high sensitivity, and the availability of distributed pixels for detecting force distribution. Here, a highly sensitive flexible sensor array based on piezoelectricity‐enhanced vertically aligned P(VDF‐TrFE) micropillars is developed for dynamic tactile sensing. The core piezoelectric sensing micropillars are fabricated using a straightforward and scalable nanoimprinting technology and then sandwiched between a pair of cross electrode arrays to construct multiplexed sensor arrays. Due to the proposed structural design and nanoimprinting methodology, the sensor pixels exhibit uniform output generation, robust output stability, and scalable fabrication ability. In addition, taking advantage of the high compressibility and enhanced strain of the piezoelectric micropillars compared to planar films, the microstructured sensors show an enhanced sensitivity of 228.2 mV N−1 and a highly linear response to loads. By integrating the flexible sensor with a portable signal processing circuit, a complete tactile sensing system is successfully developed to provide clear intuitive user interfaces. The good flexibility and robust stability of the sensor arrays enable them to be attached onto curved surface for real‐time tracking of dynamic force and imaging the force distribution.

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Flexible tactile sensor array for distributed tactile sensing and slip detection in robotic hand grasping

Cited by 94 publications

References 21 publications

Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement

Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement

Triboelectric Self-Powered Three-Dimensional Tactile Sensor

Scalable Imprinting of Flexible Multiplexed Sensor Arrays with Distributed Piezoelectricity‐Enhanced Micropillars for Dynamic Tactile Sensing

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