Resistive tactile sensor matrices using inter-electrode sampling

Weiss, K.P.; Wörn, Heinz

doi:10.1109/iecon.2005.1569203

Cited by 12 publications

(7 citation statements)

References 7 publications

(8 reference statements)

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“…Numerous tactile sensor skins have been proposed [1]- [3]. Work has been done in the field of multimodal and modular tactile skins [4], [5] and on the problems of electric wiring and scalability [6], [7]. However, these tactile sensors are stiff and their application to arbitrarily shaped geometries is limited.…”

Section: Related Workmentioning

confidence: 99%

A flexible and low-cost tactile sensor for robotic applications

Sygulla

Ellensohn

Hildebrandt

et al. 2017

2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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For humans, the sense of touch is essential for interactions with the environment. With robots slowly starting to emerge as a human-centric technology, tactile information becomes increasingly important. Tactile sensors enable robots to gain information about contacts with the environment, which is required for safe interaction with humans or tactile exploration. Many sensor designs for the application on robots have been presented in literature so far. However, most of them are complex in their design and require high-tech tools for their manufacturing. In this paper, we present a novel design for a tactile sensor that can be built with low-cost, widely available materials, and low effort. The sensor is flexible, may be cut to arbitrary shapes and may have a customized spatial resolution. Both pressure distribution and absolute pressure on the sensor are detected. An experimental evaluation of our design shows low detection thresholds as well as high sensor accuracy. We seek to accelerate research on tactile feedback methods with this easy to replicate design. We consider our design a starting point for the integration of multiple sensor units to a large-scale tactile skin for robots.

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Section: Related Workmentioning

confidence: 99%

A flexible and low-cost tactile sensor for robotic applications

Sygulla

Ellensohn

Hildebrandt

et al. 2017

2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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“…The data acquisition of pixelated E-skin arrays is conventionally based on the sequential measurement of time division multiple access (TDMA) to the pixels at each measurement cycle (11,12). However, a highly integrated TDMA system suffers the readout delay (13,14) and large power consumption because of the continuous measurement (15) and necessarily requires high-level complexity in circuit design to integrate the switching units (16). Meanwhile, the event-driven spike generation in the human somatosensory system allows parallel data processing without the readout delay (17).…”

Section: Introductionmentioning

confidence: 99%

Dynamic tactility by position-encoded spike spectrum

Kim

You

et al. 2022

Sci. Robot.

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In fast and transient somatosensory processing, the relative timing of the selected spikes is more important than the spike frequency because the ensemble of the first spikes in the spike trains encodes the dynamic tactile information. Here, inspired by the functional effectiveness of the selected spikes, we propose an artificial dynamic sensory system based on position-encoded spike spectrum. We use a mixed ion-electron conductor to generate a potential spike signal. We design artificial receptors that have different ion relaxation times (τ); thus, a sequence of the spikes from the receptors creates a spike spectrum, providing the spatial information (position and motion trace) and the temporal information (speed and dynamic contact area). The artificial receptors can be incorporated by as much as 132/square centimeters by using only two global signal addressing lines for sensor operation. Structural simplicity of the device opens the possibility of scalable fabrication with dense receptor integration. With computational decoding of the position-encoded spike spectrum, the artificial sensory system can recognize complicated dynamic motions in real time. The high-resolution spatiotemporal tactile perception in the ionic artificial sensory system enables the real-time dynamic robotic manipulation.

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“…These are resistive sensors, which can be classified according to their applications. They can be tactile sensors [ 1 , 2 , 3 , 4 , 5 , 6 , 7 , 8 , 9 , 10 ], temperature sensors [ 11 , 12 ], gas detectors [ 13 , 14 , 15 ] or for other substances [ 16 , 17 ]. In order to obtain the desired information, sometimes a single sensor can be enough.…”

Section: Introductionmentioning

confidence: 99%

“…There are also numerous circuits carrying out signal conditioning and analog-to-digital conversion of the information for its subsequent processing. In principle, for a single access (SA) configuration 2· M · N cables from the sensor to the circuit are needed, although one of them is normally shared by all sensors [ 10 ] so they are reduced to M · N + 1. The time needed to extract the information of the whole array is practically the time needed to extract the information of a single sensor.…”

Section: Introductionmentioning

confidence: 99%

Accuracy and Resolution Analysis of a Direct Resistive Sensor Array to FPGA Interface

Oballe-Peinado

Vidal‐Verdú

Sánchez-Durán

et al. 2016

Sensors

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Resistive sensor arrays are formed by a large number of individual sensors which are distributed in different ways. This paper proposes a direct connection between an FPGA and a resistive array distributed in M rows and N columns, without the need of analog-to-digital converters to obtain resistance values in the sensor and where the conditioning circuit is reduced to the use of a capacitor in each of the columns of the matrix. The circuit allows parallel measurements of the N resistors which form each of the rows of the array, eliminating the resistive crosstalk which is typical of these circuits. This is achieved by an addressing technique which does not require external elements to the FPGA. Although the typical resistive crosstalk between resistors which are measured simultaneously is eliminated, other elements that have an impact on the measurement of discharge times appear in the proposed architecture and, therefore, affect the uncertainty in resistance value measurements; these elements need to be studied. Finally, the performance of different calibration techniques is assessed experimentally on a discrete resistor array, obtaining for a new model of calibration, a maximum relative error of 0.066% in a range of resistor values which correspond to a tactile sensor.

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Resistive tactile sensor matrices using inter-electrode sampling

Cited by 12 publications

References 7 publications

A flexible and low-cost tactile sensor for robotic applications

A flexible and low-cost tactile sensor for robotic applications

Dynamic tactility by position-encoded spike spectrum

Accuracy and Resolution Analysis of a Direct Resistive Sensor Array to FPGA Interface

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