Haptic discrimination of material properties by a robotic hand

Takamuku, Shinya; Gómez, Gabriel; Hosoda, Koh; Pfeifer, Rolf

doi:10.1109/devlrn.2007.4354057

Cited by 25 publications

(3 citation statements)

References 15 publications

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“…Recently years, researchers have promoted various PVDFbased tactile sensors that can detect contact points, interfacial stress, contact force and slip, the textures of materials, the direction for maintaining a stable grasp, and so on [11,18,20,[32][33][34][35]. All these mentioned tactile sensors are consisted by piezoelectric bulk film layer.…”

Section: Introductionmentioning

confidence: 99%

Flexible three-axial tactile sensors with microstructure-enhanced piezoelectric effect and specially-arranged piezoelectric arrays

Chen

Shao

Tian

et al. 2018

Smart Mater. Struct.

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Flexible tactile sensors with high sensitivity, good flexibility and the capability of measuring multidirectional forces are urgently required in modern robot technology and flexible electronic applications. Here, we present a flexible three-axial tactile sensor using piezoelectricity enhanced P(VDF-TrFE) micropillars. For achieving three-axis force measurement, the vertical aligned P(VDF-TrFE) micropillars are sandwiched between four square bottom electrodes and a common top electrode to form four symmetrically arranged piezoelectric sensing units. An elastomeric PDMS bump is fixed on the common top electrode surface to effectively transfer the contact force to the four sensing units. Taking advantage of the high sensitivity and good flexibility of the imprinted P(VDF-TrFE) micropillars, the resultant four distributed piezoelectric units are highly sensitive to the strain and can generate related signals corresponding to the compressive and tensile stress, from which the direction and the amplitude of the applied force can be deduced. The structural design, manufacturing technique，the three-axial force measuring principle, and sensing performance characterization of the proposed tactile sensor are presented in this paper. The sensitivities for X-, Y-, and Z-axis force components are calibrated as 0.3738 V N −1 , 0.4146 V N −1 , and 0.3443 V N −1 in experimental study. Furthermore, the proposed tactile sensor array is successfully integrated with a magnetic bar consist of NdFeB/ PDMS composites to construct a magnetic actuator with sensing ability. These results give the flexible three-axial tactile sensor high potential for use in advanced robots, wearable electronics and a variety of human-machine interface implementations.

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Section: Introductionmentioning

confidence: 99%

Flexible three-axial tactile sensors with microstructure-enhanced piezoelectric effect and specially-arranged piezoelectric arrays

Chen

Shao

Tian

et al. 2018

Smart Mater. Struct.

View full text Add to dashboard Cite

show abstract

“…[ 17 , 18 ] In addition, embedding the tactile sensors capable of hardness discrimination into a silicon fingertip can further improve the safety of manipulations. [ 19 ] Moreover, soft pneumatic robots play an important role in decreasing the damage of substances from traditional rigid grippers, thus improving the security of manipulations. [ 20 ] Therefore, inspired by novel soft robotics, combining pressure sensors with a soft pneumatic chamber to realize hardness tactile perception is a practical and promising method.…”

Section: Introductionmentioning

confidence: 99%

Ultrasensitive Linear Capacitive Pressure Sensor with Wrinkled Microstructures for Tactile Perception

Tian

Jiang

et al. 2023

Advanced Science

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Ultrasensitive flexible pressure sensors with excellent linearity are essential for achieving tactile perception. Although microstructured dielectrics have endowed capacitive sensors with ultrahigh sensitivity, the compromise of sensitivity with increasing pressure is an issue yet to be resolved. Herein, a spontaneously wrinkled MWCNT/PDMS dielectric layer is proposed to realize the excellent sensitivity and linearity of capacitive sensors for tactile perception. The synergistic effect of a high dielectric constant and wrinkled microstructures enables the sensor to exhibit linearity up to 21 kPa with a sensitivity of 1.448 kPa−1 and a detection limit of 0.2 Pa. Owing to these merits, the sensor monitors subtle physiological signals such as various arterial pulses and respiration. This sensor is further integrated into a fully multimaterial 3D‐printed soft pneumatic finger to realize material hardness perception. Eight materials with different hardness values are successfully discriminated, and the capacitance of the sensor varies linearly (R2 > 0.975) with increasing hardness. Moreover, the sensitivity to the material hardness can be tuned by controlling the inflation pressure of the soft finger. As a proof of concept, the finger is used to discriminate pork fats with different hardness, paving the way for hardness discrimination in clinical palpation.

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“…Measuring interaction forces, tactile information and haptic perception is of interest in many domains [183]. Haptic robots, like DaVinci (Intuitive Surgical, Inc., Sunnyvale, CA, USA) or HapticMaster (Moog Inc., Buffalo, NY, USA), are able to accurately render any kind of contact dynamics, which allow, e.g., surgeons to perform remote operations under minimally-invasive conditions [47].…”

Section: Introductionmentioning

confidence: 99%

Assessment of hand kinematics and interactions with the environment

Kortier¹

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The hand is one of the most important instruments of our body. Its versatility enables the execution of a wide range of tasks that ask for a powerful, precise or gentle approach. Measuring hand and finger movements, and interaction forces, is therefore important for the assessment of tasks in daily life. However, measuring on-body kinematic and kinetic quantities is a delicate procedure due to the dexterity of the hand, and moreover, the little and complex shaped skin places for sensor attachment. This thesis proposes a new on-body assessment system that allows the measurement of movements and interaction forces of the hand, fingers and thumb.The first objective, the development, evaluation and validation of an inertial and magnetic sensing system for the measurement of hand and finger kinematics is the topic of chapters 2 to 5. The second objective, assessment of the dynamic interaction between human hand and environment using combined force and movement sensing, is the topic of chapter 6.Chapter 2 describes the hardware and algorithms for a sensing system which can be attached to the hand, fingers and the thumb. The hardware consists of multiple inertial and magnetic sensors to measure angular velocities, accelerations and the magnetic field. Each individual finger and the thumb is modelled as a kinematic chain where the bones correspond to the linkages and each joint is considered as an ideal ball-socket joint. Segmental lengths were determined by manual measurement, whereas the inertial sensors provided the input for a Kalman filter to estimate the 3D orientation of the corresponding segment. Hereafter, the orientation and tip position of each finger was estimated by applying forward kinematics. To our knowledge, it is the first system that uses inertial sensors for estimating finger kinematics. The estimation quality was expressed in terms of static and dynamic accuracy, dynamic range and repeatability. Differences with an active optical reference system were found to be a maximum of 13 mm for the finger tip distance difference during circular pointing movements. A standardized test protocol for instrumented gloves showed very good repeatability results compared to other datagloves, proven by the mean angle difference of < 2 degrees. Finally, a dynamic range was specified as a measure of how well the system is able to reconstruct joint angles when experiencing large angular velocities. The system showed accurate reconstruction up to 116 full index finger flex-extension movements per minute.Chapter 3 reports an extensive comparison of our inertial sensing system against a passive opto-electronic marker system. It aims on typical hand-function tasks, including tapping, (fast) finger flexion, hand opening/closing, ab-adduction and circular pointing, which are used to quantify various motor symptoms for clinical diagnosis. Three subjects were included and instrumented with both systems. Differences in position, Range of Motion (RoM) and 3D vii joint angles were noted of which the largest were found in fast and ...

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Haptic discrimination of material properties by a robotic hand

Cited by 25 publications

References 15 publications

Flexible three-axial tactile sensors with microstructure-enhanced piezoelectric effect and specially-arranged piezoelectric arrays

Flexible three-axial tactile sensors with microstructure-enhanced piezoelectric effect and specially-arranged piezoelectric arrays

Ultrasensitive Linear Capacitive Pressure Sensor with Wrinkled Microstructures for Tactile Perception

Assessment of hand kinematics and interactions with the environment

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