New tactile sensor for position detection based on distributed planar electric field

Wu, Haibin; Chen, Jianpeng; Su, Yu-Chen; Li, Zhijing; Ye, Jinhua

doi:10.1016/j.sna.2016.02.045

Cited by 20 publications

(19 citation statements)

References 14 publications

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“…The contact force detection model mentioned above needs the position information of sensing units. Based on the principle of electric field potential uniqueness, our team have already developed four-wire [20] and five-wire [21] tactile sensors in recent years. These sensors can detect the contact position by extracting the potential value distributed over the sensor film.…”

Section: Design and Fabrication Of Sensormentioning

confidence: 99%

Inconsistency Calibrating Algorithms for Large Scale Piezoresistive Electronic Skin

Lin

You

et al. 2020

Micromachines

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In the field of safety and communication of human-robot interaction (HRI), using large-scale electronic skin will be the tendency in the future. The force-sensitive piezoresistive material is the key for piezoresistive electronic skin. In this paper, a non-array large scale piezoresistive tactile sensor and its corresponding calibration methods were presented. Because of the creep inconsistency of large scale piezoresistive material, a creep tracking compensation method based on K-means clustering and fuzzy pattern recognition was proposed to improve the detection accuracy. With the compensated data, the inconsistency and nonlinearity of the sensor was calibrated. The calibration process was divided into two parts. The hierarchical clustering algorithm was utilized firstly to classify and fuse piezoresistive property of different regions over the whole sensor. Then, combining the position information, the force detection model was constructed by Back-Propagation (BP) neural network. At last, a novel flexible tactile sensor for detecting contact position and force was designed as an example and tested after being calibrated. The experimental results showed that the calibration methods proposed were effective in detecting force, and the detection accuracy was improved.

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Section: Design and Fabrication Of Sensormentioning

confidence: 99%

Inconsistency Calibrating Algorithms for Large Scale Piezoresistive Electronic Skin

Lin

You

et al. 2020

Micromachines

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“…For example, some new materials are used to reduce the inertia of the robot body, a new flexible joint design improves the flexibility of the robot, wrapping with a viscoelastic material buffers the impact force, and new robotic skins are designed to sense and buffer collision force. (6)(7)(8) These methods can increase the safety of the robot to a certain extent, but they also make the system more complicated and increase costs. The joint torque sensor and six-axis force/torque sensor are typically adopted to achieve collision detection between a robot and an unstructured environment.…”

Section: Introductionmentioning

confidence: 99%

Robot Collision Detection and Distinction Based on Convolution Filtering Dynamic Model

Li¹,

Ye²,

Wu³

2019

Sensors and Materials

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With the increasing application of human-robot interaction, collision detection between robot and unknown environments, along with further distinction from the intentional contact between human and robot, have become urgent problems to be solved. In this paper, a new collision detection algorithm is proposed, and a collision distinction method is further designed on the basis of this algorithm. The generalized momentum and the convolution method are used to develop the robot convolution filtering dynamic model. Then, the force-sensing observer that uses only proprioceptive sensors is designed to observe the torque deviation of the joint online to realize robot collision detection. At the same time, the performance of the forcesensing observer is improved by compensating for joint friction. The proposed algorithm does not need any external sensors; it overcomes the disadvantage of calculation errors owing to the acquisition of joint acceleration information. The filter can be flexibly selected in the algorithm according to the actual application of the robot. Moreover, two force-sensing observers are adopted in the collision distinction method. The contact or collision between a human and a robot can be further distinguished after setting the appropriate thresholds and filtering parameters. The collision detection algorithm can be easily adapted to different types of robot to ensure human safety, and the proposed collision distinction method can be used to improve the work efficiency of the robot. External force sensing experiments show that the low-pass and bandpass observers work well and different force signals can be observed. The collision detection and human-robot interaction experiments are performed to verify that the collision detection algorithm and collision distinction method are reasonable and effective.

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“…Two conductive fabric layers detect contact position; one partially conductive central layer detects contact force; and two insulating layers separate the outer layer and the central layer when there is no outside pressure present. In our previous work [ 17 ], we proposed a flexible tactile sensor based on the principle of a distributed planar electric field. The sensor had a non-array structure that could continuously detect the contact position.…”

Section: Introductionmentioning

confidence: 99%

A Flexible Annular Sectorial Sensor for Detecting Contact Position Based on Constant Electric Field

Wang

Huang

et al. 2018

Micromachines

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To achieve tactile detection on the irregular surface of a robot link, a flexible annular sectorial sensor with a five-layer structure was proposed that could be wrapped on the surface of a truncated cone-shaped link. The sensor was designed for the detection of a contact position when robots collide with other objects during movement. The sensor obtains the coordinates of the contact position by exerting a constant electric field on the upper and lower conductive layers. The mathematical model linking the coordinates of the contact position and the corresponding electric potential on the conductive layer was established, based on the uniqueness of the electric field. The design of the sensor was simulated using COMSOL software, and the detection error of the contact position was discussed. A sensor sample was fabricated and wrapped on the mechanical arm. The results of the simulations and experiments indicated that the flexible sensor performed very well when wrapped on the robot link.

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New tactile sensor for position detection based on distributed planar electric field

Cited by 20 publications

References 14 publications

Inconsistency Calibrating Algorithms for Large Scale Piezoresistive Electronic Skin

Inconsistency Calibrating Algorithms for Large Scale Piezoresistive Electronic Skin

Robot Collision Detection and Distinction Based on Convolution Filtering Dynamic Model

A Flexible Annular Sectorial Sensor for Detecting Contact Position Based on Constant Electric Field

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