Robot Tactile Sensing: Gold Nanocomposites As Highly Sensitive Real-Time Optical Pressure Sensors

Massaro, Alessandro; Spano, Fabrizio; Cazzato, Paolo; Tegola, Carola La; Cingolani, R.; Athanassiou, Athanassia

doi:10.1109/mra.2012.2184198

Cited by 13 publications

(6 citation statements)

References 24 publications

(18 reference statements)

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“…Furthermore, silicone is durable and non-toxic once cured. Additionally, we observe that silicon-based materials have a Young's Modulus around 0,5 MPa [18] compared to a value ranging from 0,42 to 0,85 MPa for the human skin [19]. The epidermis and dermis have been reproduced by using Dragon Skin FX-pro (DS, from Smooth-On, purchased from Kaupo, Germany).…”

Section: Methodsmentioning

confidence: 98%

“…Additionally, this approach can lead to interesting applications such as a human-machine interface as illustrated by Teyssier et al [10], a good example of projected capacitive system. Several tactile skin models have been proposed also by considering optical sensing implementation [11][12][13][14][15][16]. An interesting matching can be considered between the optoelectronic sensing devices and their use to excite neural cells generating sort of artificial skin models for medical prosthesis.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Capacitive Color-Changing Electronic Skin for Touch Sensing Applications

Fehr

Sassenburg

Blunschi

et al. 2021

2021 IEEE International Symposium on Medical Measurements and Applications (MeMeA)

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Robots are slowly becoming part of our civilization, or at least one of the main evolutions of the third millennium. Nowadays their integration is based on their aspects by looking more and more human. Additionally, not only considering the psychological aspects, our society will have to improve their interaction. Systems integrating a full spectrum of sensors will have to be implemented. In this framework, as a preliminary step, the implementation of a tactile robotic skin can be an interesting upgrade. To guarantee safety between robots and humans, it can be interesting to implement such robots with human-like tactile perception. In this work, we focus on the realization of innovative tactile skin model. This model allows to sense and indicate where the pressures have been applied by using a combination of a flexible polymeric capacitive skin model combined with a LED matrix.

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Section: Methodsmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 99%

A Capacitive Color-Changing Electronic Skin for Touch Sensing Applications

Fehr

Sassenburg

Blunschi

et al. 2021

2021 IEEE International Symposium on Medical Measurements and Applications (MeMeA)

Self Cite

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“…There are some similar works in the literature using the change of the intensity of light 27 –31 alike ours, with fiber optic cables, a camera, and a silicone substance. Even so, the proposed design has two unique contributions.…”

Section: Introductionmentioning

confidence: 91%

A low-cost, human-like, high-resolution, tactile sensor based on optical fibers and an image sensor

Buyuksahin

Kirli

2018

International Journal of Advanced Robotic Systems

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Tactile sensors are commonly a coordinated group of receptors forming a matrix array meant to measure force or pressure similar to the human skin. Optic-based tactile sensors are flexible, sensitive, and fast; however, the human fingertip's spatial resolution, which can be regarded as the desired spatial resolution, still could not be reached because of their bulky nature. This article proposes a novel and patented optic-based tactile sensor design, in which fiber optic cables are used to increase the number of sensory receptors per square centimeter. The proposed human-like high-resolution tactile sensor design is based on simple optics and image processing techniques, and it enables high spatial resolution and easy data acquisition at low cost. This design proposes using the change in the intesity of the light occured due to the deformation on contact/measurement surface. The main idea is using fiber optic cables as the afferents of the human physiology which can have 9 mm diameters for both delivering and receiving light beams. The variation of the light intensity enters sequent mathematical models as the input, then, the displacement, the force, and the pressure data are evaluated as the outputs. A prototype tactile sensor is manufactured with 1-mm spatial and 0.61-kPa pressure measurement resolution with 0-15.6 N/cm 2 at 30 Hz sampling frequency. Experimental studies with different scenarios are conducted to demonstrate how this state-of-the-art design worked and to evaluate its performance. The overall accuracy of the first prototype, based on different scenarios, is calculated as 93%. This performance is regarded as promising for further developments and applications such as grasp control or haptics.

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“…The incorporation of nanomaterials strongly influences various properties starting from the mechanical and thermal to optical, dielectric, and magnetic properties. In addition, unique functionalities can be obtained by exploiting quantum effects occurring at nanoscale or using the coupling between nanomaterials and matrix properties . Sensing capabilities can be implemented into the skin models allowing the improved monitoring of experiments, or to serve as sensing robotic skin for machine‐human interfacing.…”

Section: Nano‐ and Micro‐fillersmentioning

confidence: 99%