High-density Conformable Tactile Sensing Glove

Sagisaka, Takashi; Ohmura, Yoshiyuki; Nagakubo, Akihiko; Kuniyoshi, Yasuo; Ozaki, Kazuyuki

doi:10.7210/jrsj.30.711

Cited by 16 publications

(12 citation statements)

References 13 publications

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“…Therefore, readout electronics can detect contact locations and pressures by reading the signal from I/O port. Sagisaka et al proposed in [ 19 ] a large number of tactile sensing points in their conformable tactile sensing glove. Principle of the sensing mechanism is similar to ours in terms of that two electrode layers are connected by the external force.…”

Section: Methodsmentioning

confidence: 99%

Flexible Touch Sensors Made of Two Layers of Printed Conductive Flexible Adhesives

Seo

Kim

Jung

et al. 2016

Sensors

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Touch sensors are crucial in controlling robotic manipulation when a robot interacts with environmental objects. In this study, multilayer flexible touch sensors in the form of an array were developed. The sensors use ink-type conductive flexible adhesives as electrodes which were printed on polyethylene terephthalate (PET) films in a parallel equidistance stripe pattern. Between the two printed layers, a double-sided adhesive film was used to combine each layer and was perforated at the junctions of the top and bottom electrodes with different-sized circles. These holes represent switching mechanisms between the top and bottom electrodes, and their sizes make the sensor respond to different levels of external pressure. We showed the durability of the fabricated sensor with 1 mm diameter holes by repeated experiments of exerting normal pressure ranging from 0 to 159.15 kPa for 1000 cycles. In case of 1 mm diameter holes, the state of each sensor node was reliably determined by the threshold pressures of 127.3 kPa for increasing pressure and 111.4 kPa for decreasing pressure. On the other hand, decreasing the hole size from 3 to 0.5 mm caused an increase in the threshold pressure from 1.41 to 214 kPa. The relation between the hole size and the threshold pressure was analyzed by a mechanical model. The sensor performance was also verified on curved surfaces up to 60 mm radius of curvatures. Additionally, we fabricated a sensor with three levels of sensitivity with a conventional method which was a thermal evaporation to show the extendibility of the idea.

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Section: Methodsmentioning

confidence: 99%

Flexible Touch Sensors Made of Two Layers of Printed Conductive Flexible Adhesives

Seo

Kim

Jung

et al. 2016

Sensors

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“…A prototype of a highly flexible tactile glove based on a new type of fabric-based sensors is reported in [10]. Another recent example of a data glove featuring a very high number of sensor points has been described in [11].…”

Section: Related Workmentioning

confidence: 99%

Analysis of human grasping under task anticipation using a tactile book

Schürmann

Kõiva

Haschke

et al. 2012

2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)

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Motivated by the prominent role of haptics for the analysis of human grasping and manipulation and the replication of similar abilities for humanoid robots, we developed a device capable to augment conventional motion capture techniques with the real-time acquisition of high-resolution spatiotemporal pressure patterns between hand and manipulated object. The device is the shape and size of a book, covered with a grid of small-sized (5 mm diameter) sensors and processing electronics to provide a stream of "tactile images" at 180 Hz frame per second. Additionally integrated acceleration sensors allow to correlate the tactile image stream with accurate motion information. We discuss design considerations, implementation and data processing and illustrate the capabilities of the device with an experiment studying grasping strategies during a pickand-place task and the impact of different end-states on the recorded grasping patterns.

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“…For the human hand, there is a mechanoreceptor density for tactile perception of up to 17,000 units in a hand, and the spatial resolution is up to 1.6 mm [19]. Reducing the size of the sensor and increasing the density of sensor units are the most traditional methods [20,21], but is still far from reaching the level of the sensor density of human hands. Moreover, the high-density sensor array is difficult to integrate, the circuit is tedious, and the signal processing is complicated.…”

Section: Introductionmentioning

confidence: 99%

Discrimination of Object Curvature Based on a Sparse Tactile Sensor Array

Liu

Zhan

et al. 2020

Micromachines

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Object curvature plays an important role in grasping and manipulation. To be more exact, local curvature is a more useful information for grasping practically. Vision and touch are the two main methods to extract surface curvature of an object, but vision is often limited since the complete contact area is invisible during manipulation. In this paper, the authors propose an object curvature estimation method based on an artificial neural network algorithm through a lab-developed sparse tactile sensor array. The compliant layer covering on the sensor is indispensable for fitting the curved surface. Three types (plane, convex sphere, and convex cylinder) of sample and each type of sample including 30 different radiuses (1 mm to 30 mm) were used in the experiment. The overall classification accuracy was 93.1%. The average curvature radius estimating error based on an artificial neural network (ANN) algorithm was 1.87 mm. When the radius of curvature was bigger than 5 mm, the average relative error was smaller than 20%. As a comparison, the sensor array density we used in this paper was less than 9/cm2, which was smaller than the density of human SAII receptors, but the discrimination result was close to the SAII receptors. Comparison with the curvature discrimination ability of the human body showed that this method has a promising application prospect.

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High-density Conformable Tactile Sensing Glove

Cited by 16 publications

References 13 publications

Flexible Touch Sensors Made of Two Layers of Printed Conductive Flexible Adhesives

Flexible Touch Sensors Made of Two Layers of Printed Conductive Flexible Adhesives

Analysis of human grasping under task anticipation using a tactile book

Discrimination of Object Curvature Based on a Sparse Tactile Sensor Array

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