Robot-Based Calibration Procedure for Graphene Electronic Skin

Abstract

The paper describes the semi-automatised calibration procedure of an electronic skin comprising screen-printed graphene-based sensors intended to be used for robotic applications. The variability of sensitivity and load characteristics among sensors makes the practical use of the e-skin extremely difficult. As the number of active elements forming the e-skin increases, this problem becomes more significant. The article describes the calibration procedure of multiple e-skin array sensors whose parameters are not homogeneous. We describe how an industrial robot equipped with a reference force sensor can be used to automatise the e-skin calibration procedure. The proposed methodology facilitates, speeds up, and increases the repeatability of the e-skin calibration. Finally, for the chosen example of a nonhomogeneous sensor matrix, we provide details of the data preprocessing, the sensor modelling process, and a discussion of the obtained results.

A Comprehensive Review: Interaction of Appearance and Behavior, Artificial Skin, and Humanoid Robot

“…However, this skin only detects the efects of 2D forces when in fact the efects come from diferent directions, tests on this are expected in future studies. In addition, studies on artifcial skin are carried out with the goal of ensuring safety when interacting with robots, such as relying on accelerometers to estimate the robot's posture [66], adjusting the parameters of multiple e-skin sensors [67], or using proximity sensors to predict human-robot interactions [68]. Besides, the robot is used in position evaluation experiments to correct the spatial dimensions of the skin [69].…”