Multimodal Tactile Sensor

Wettels, Nicholas; Fishel, Jeremy A.; Loeb, Gerald E.

doi:10.1007/978-3-319-03017-3_19

Cited by 51 publications

(43 citation statements)

References 35 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A comparative review of tactile sensor technologies is presented in [160]. In this work, Wettels et al introduce three sensing modalities of the BioTac®, namely force, vibration and thermal sensing.…”

Section: Tactile Sensorsmentioning

confidence: 99%

Sensors for Robotic Hands: A Survey of State of the Art

Saudabayev

Varol

2015

IEEE Access

View full text Add to dashboard Cite

Abstract-Recent decades have seen significant progress in the field of artificial hands. Most of the surveys, which try to capture the latest developments in this field, focused on actuation and control systems of these devices. In this work, our goal is to provide a comprehensive survey of the sensors for artificial hands. In order to present the evolution of the field, we cover five year periods starting at the turn of the millennium. At each period, we present the robot hands with a focus on their sensor systems dividing them into categories such as prosthetics, research devices and industrial end-effectors. We also cover the sensors developed for robot hand usage in each era. Finally, the period between 2010 and 2015 introduces the reader the state-ofthe-art and also hints to the future directions in the sensor development for artificial hands.

show abstract

Section: Tactile Sensorsmentioning

confidence: 99%

Sensors for Robotic Hands: A Survey of State of the Art

Saudabayev

Varol

2015

IEEE Access

View full text Add to dashboard Cite

show abstract

“…The multimodal BioTac tactile fingertip (SynTouch Inc., Montrose, CA, USA) incorporates 19 electrodes embedded into a fluid-filled soft fingertip.When pressure is applied to the fingertip, the distribution of the liquid inside the finger changes and the resistance between the different electrodes changes with it. A hydro-acoustic pressure sensor measures high frequency vibrations through the liquid and additional temperature sensors in combination with heating elements enable temperature flux measurements [39]. The rich set of information generated by the multimodal sensor setup used in the BioTac sensor is well suited for feature extraction and classification based on machine learning approaches [40].…”

Section: Introduction and Related Workmentioning

confidence: 99%

An Embedded, Multi-Modal Sensor System for Scalable Robotic and Prosthetic Hand Fingers

Weiner

Neef

Shibata

et al. 2019

Sensors

View full text Add to dashboard Cite

Grasping and manipulation with anthropomorphic robotic and prosthetic hands presents a scientific challenge regarding mechanical design, sensor system, and control. Apart from the mechanical design of such hands, embedding sensors needed for closed-loop control of grasping tasks remains a hard problem due to limited space and required high level of integration of different components. In this paper we present a scalable design model of artificial fingers, which combines mechanical design and embedded electronics with a sophisticated multi-modal sensor system consisting of sensors for sensing normal and shear force, distance, acceleration, temperature, and joint angles. The design is fully parametric, allowing automated scaling of the fingers to arbitrary dimensions in the human hand spectrum. To this end, the electronic parts are composed of interchangeable modules that facilitate the mechanical scaling of the fingers and are fully enclosed by the mechanical parts of the finger. The resulting design model allows deriving freely scalable and multimodally sensorised fingers for robotic and prosthetic hands. Four physical demonstrators are assembled and tested to evaluate the approach.

show abstract

“…Artificial skins with mechanical multimodal capabilities are presented in [18], [19] and [20]. Simultaneous measurement of contact forces, microvibrations and thermal fluxes are discussed in [2]. The biomimetic array BioTac has an elastomeric skin inflated by a conductive liquid over a bone-like core.…”

Section: B Multimodal Sensingmentioning

confidence: 99%

“…A key requirement for robotic fingertips is the ability to sense force, vibration and temperature in order to perform high-level tasks, such as manipulation, surface roughness detection and material identification [2]. For most of these tasks, the sensory modalities are synergetic.…”

Section: Introductionmentioning

confidence: 99%

“…These provide some information, but for truly autonomous robots that should be able to deal with complex tasks at the same level as humans, there is a need for multimodality. While a wide variety of sensors have been developed, only a few of these combine the multimodal sensory capabilities of the human skin [2], [5]. These devices usually contain two or more sensing elements, which results in a complex design and processing.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation