Novel Proximity Sensor for Realizing Tactile Sense in Suction Cups

Doi, Sayaka; Koga, Hiroki; Seki, T.; Okuno, Y.

doi:10.1109/icra40945.2020.9196726

Cited by 10 publications

(5 citation statements)

References 15 publications

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“…[41] Barometric sensing can measure the pressure change in hydraulic or pneumatic circuits due to strain or compression for tactile sensing. [42] To detect the proximity, contact, direction, imbalance, and weight of the object to grasp, sensory suction cups have been developed at varying scales and using different sensing solutions [43][44][45][46][47][48][49] (Table S1, Supporting Information). Sareh et al [43] developed an artificial sensorized sucker using fiber Bragg grating as a sensor which enables the sucker to understand whether it is in contact with an object.…”

Section: Doi: 101002/aisy202200201mentioning

confidence: 99%

“…[46] To enable the sucker to automatically identify its relative distance from the base plate to the surface of a suction cup, Doi et al implemented a capacitive proximity sensor. [47] All these studies highlight how sensorized suckers operate in harsh environments as grippers to recognize the objects. However, most of them only work in the air, and due to technological constraints, their sizes make them difficult to integrate into a soft arm.…”

Section: Doi: 101002/aisy202200201mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Octopus‐Inspired Suction Cups with Embedded Strain Sensors for Object Recognition

Shahabi

Visentin

Mondini

et al. 2023

Advanced Intelligent Systems

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Octopuses have a fully boneless body and as well distributed intelligence, the ability to stretch, change the stiffness, and sense perception in all the body. This makes them the perfect source of inspiration for soft robotics technologies. [1] The abilities of octopuses have been imitated in robotics to develop artificial suckers [2][3][4] and soft robotic arms. [5][6][7][8] Chemotactile sensing and the adhesion of suckers are used in combination with arm movements to explore environments, manipulate objects, and capture prey, as well as for anchoring and locomotion. [9][10][11][12][13][14] An octopus can feel a slight touch in any part of its body since it is covered with mechanoreceptors, and the sense of touch is at its most sensitive in the suckers. [15] The sucker consists of two main regions connected by an orifice: the infundibulum, an exposed disk-like portion of the sucker, and the acetabulum, a spheroidal cavity with a protuberance at the base (Figure 1B). These regions have radial and meridional muscles (used for attachment) and circular muscles (used for active detachment). [14] Octopuses distinguish the shape and texture of objects using suckers with mechanoreceptors (Figure 1A). [16,17] Imitating these abilities in soft arms can lead to the development of a new generation of manipulators for blind exploration and manipulation in environments where there are no visual clues.Bioinspiration from octopus' suckers can provide artificial solutions for manipulating, grasping, and transferring objects of different dimensions, weight, and textures with no damage in both agriculture and industrial applications.Artificial suction cups can be classified based on their actuation method. [17] Passive suction cups mimic the natural structure of an octopus and exploit external preloads to adhere and attach to objects. They are effective at different scales, in both wet and dry environments. [2,4] On the other hand, active suction cups exploit soft actuators to create an inner negative pressure (Figure 1C). Fluidic actuation is the most used in suction cups [7,8,[18][19][20] but there are also solutions that exploit shape memory alloys, [21,22] electrohydrodynamic pumps, [23] or dielectric electroactive polymers. [24,25] Going beyond open-loop control entails integrating sensors into a soft body to provide sensory feedback. Ideally, to develop sensory suction cups (and soft robots), sensors should be: compliant to avoid negatively impacting on the mechanical properties of the body; sufficiently small to not hinder movement; resilient and robust to resist to mechanical stimulation; and repeatable. [26,27] The sensing technologies used to replicate human touch capabilities range from resistive, capacitive, optical to magnetic and

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Section: Doi: 101002/aisy202200201mentioning

confidence: 99%

Section: Doi: 101002/aisy202200201mentioning

confidence: 99%

See 1 more Smart Citation

Octopus‐Inspired Suction Cups with Embedded Strain Sensors for Object Recognition

Shahabi

Visentin

Mondini

et al. 2023

Advanced Intelligent Systems

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show abstract

“…Aoyagi et al [38] designed a suction cup with force sensing ability by coating its surface with a conductive thin-film polymer and implemented adaptive grasping with multiple numbers of the design. Doi et al [39] combined a proximity sensor with a suction cup to detect deformations and realized a similar adaptivity. Huh et al [40] developed a new type of suction cup with multiple chambers and implemented the evaluation and close-loop manipulation of objects with textured or curved surfaces.…”

Section: B Robots That Use Tools and Suction Cupsmentioning

confidence: 99%

A Dual-Arm Robot that Manipulates Heavy Plates Cooperatively with a Vacuum Lifter

Hayakawa¹,

Wan²,

Koyama³

et al. 2022

Preprint

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“…Aoyagi et al coat piezoresistive polymer on a bellows suction cup to measure compression forces [8]. Doi et al implement a capacitive proximity sensor on the base plate of a suction cup end-effector to measure the distance from the plate to the object surface [9]. These methods measure vacuum state indirectly from the deformation of the suction cup and proximity to the object.…”

Section: Grip Monitoringmentioning

confidence: 99%

A Multi-Chamber Smart Suction Cup for Adaptive Gripping and Haptic Exploration

Huh¹,

Sanders²,

Danielczuk³

et al. 2021

Preprint

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We present a novel robot end-effector for gripping and haptic exploration. Tactile sensing through suction flow monitoring is applied to a new suction cup design that contains multiple chambers for air flow. Each chamber connects with its own remote pressure transducer, which enables both absolute and differential pressure measures between chambers. By changing the overall vacuum applied to this smart suction cup, it can perform different functions such as gentle haptic exploration (low pressure) and monitoring breaks in the seal during strong astrictive gripping (high pressure). Haptic exploration of surfaces through sliding and palpation can guide the selection of suction grasp locations and help to identify the local surface geometry. During suction gripping, this design localizes breaks in the suction seal between four quadrants with up to 97% accuracy and detects breaks in the suction seal early enough to avoid total grasp failure.

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Novel Proximity Sensor for Realizing Tactile Sense in Suction Cups

Cited by 10 publications

References 15 publications

Octopus‐Inspired Suction Cups with Embedded Strain Sensors for Object Recognition

Octopus‐Inspired Suction Cups with Embedded Strain Sensors for Object Recognition

A Dual-Arm Robot that Manipulates Heavy Plates Cooperatively with a Vacuum Lifter

A Multi-Chamber Smart Suction Cup for Adaptive Gripping and Haptic Exploration

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