Tactile Sensors for Robots: A Review

Yardley, Alice; Baker, Keith D.

doi:10.1007/978-94-011-9708-3_5

Cited by 4 publications

(6 citation statements)

References 11 publications

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“…The tactile sensor described here has been constructed to be physically robust and serviceable, and the measurement system has been designed to permit a great variety of spatial resolutions to be accomodated. Previously, macroscopic capacitive sensors had been limited to a spatial separation of about 2 mm (Harmon, 1984;Yardley and Baker, 1986), but this system should permit spatial separations of less than 1 mm. Future work will, it is hoped, be directed toward the rebuilding of the transducer to reduce physical crosstalk, to offer a lower spatial separation and a greater number of elements.…”

Section: Discussionmentioning

confidence: 99%

“…From that time the transduction methods adopted have been compared and contrasted with the various advantages and disadvantages being outlined (Harmon, 1984). More recent overviews have covered some newer work (Yardley and Baker, 1986;Gelaky, 1989), which offer a comprehensive list of references for development carried out in the late-1970s and the 1980s.…”

Section: Introductionmentioning

confidence: 99%

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A new measurement system for high-resolution tactile imaging

Gelaky

Keating

1991

Transactions of the Institute of Measurement and Control

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knights, Reading, England RG6 2AX Over the last 12 years, consistent effort has been directed toward the development of a usable sense of touch for machines. This research has been somewhat overshadowed by the ongoing development in artificial vision, but has remained important for specialised object identification applications. Over the aforementioned period, a great number of different transduction and measurement principles have been adopted, each claiming to offer certain desirable characteristics. The last five years have shown a reduction in the variation of methods being pursued.One of the main surviving transduction methods is based upon the variable-separation capacitive transducer. The method of capacitance measurement, adopted by two major American research teams developing such sensors, has been a simple charge amplifier. Their measurement methodology has limited the spatial resolution, or inter-tactel separation, and slowed the acceptance of an otherwise near ideal taction device. This paper describes the development, a design model and subsequent construction, of a variableseparation capacitive tactile system which employs an improved measurement system. The system permits the sensor spatial separation to be reduced to the limits of the physical construction method and no longer be confined by the measurement technique. This will, it is hoped, lead to the construction of larger, more densely packed, arrays capable of low-cost, efficient object recognition. The sensor performance, possible applications and intended direction for further research are also discussed.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A new measurement system for high-resolution tactile imaging

Gelaky

Keating

1991

Transactions of the Institute of Measurement and Control

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“…he need for tactile shear sensors is rapidly increasing, particularly for robotics and medical applications [1,2]. Within the field of robotics, shear sensors are useful for detecting slippage in grasping devices or ground contact dynamics in walking devices [1].…”

Section: Introductionmentioning

confidence: 99%

An Optoelectronics-Based Sensor for Measuring Multi-Axial Shear Stresses

et al. 2021

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There is an increasing need for tactile shear sensors, particularly for medical applications such as orthopedic rehabilitation. Examples include measuring interfacial shear stresses between a residual limb and prosthesis to monitor socket fit and improve residual limb tissue health, and tracking shearing between a foot and shoe for assessing performance in athletes. However, there are considerable challenges in implementing shear force sensors for orthopedic applications due to the requirements for noninvasiveness, low mass, low power, and robustness against motion artifacts, normal force, and/or electromagnetic fields. To address these challenges, we designed, fabricated, and characterized a simple, low-cost, optoelectronic sensor that can measure multi-axial shear stresses. This novel sensor is based on a red, green, and blue (RGB) lightemitting diode (LED) projecting a cyclic illumination of RGB light onto a color pattern surface. As shear strain causes a displacement between the LED and the color pattern, the intensities of the reflected lights change due to the shift of the color pattern position. A photodiode captures the reflected light intensity at each color illumination, allowing the determination of the color pattern surface displacement and the shear along two axes. In this paper, we also report the efficacy of the sensor under benchtop testing conditions, confirming the potential of this technology for shear monitoring in orthopedic devices such as protheses or shoes. Future efforts will focus on miniaturization and packaging of the sensors, and characterizing their performance for the aforementioned medical applications.

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Section: Introductionmentioning

confidence: 99%

“…The need for tactile shear sensors is rapidly increasing, particularly for robotics and medical applications [1,2]. Within the field of robotics, shear sensors are useful for detecting slippage in grasping devices or ground contact dynamics in walking devices [1]. Among the many medical areas, the use of these sensors in orthopedic rehabilitation, such as measuring interfacial shear stresses between a residual limb and prosthetic socket, have been found to be impactful for managing socket fit and residual limb tissue health [3][4][5].…”

Section: Introductionmentioning

confidence: 99%

An Optoelectronics-Based Sensor For Measuring Multi-Axial Shear Stresses

McGeehan¹

2021

Preprint

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Tactile shear force sensors are increasingly popular for medical applications especially for orthopedic rehabilitation such as measuring interfacial shear stresses between a residual limb and prosthetic socket to manage socket fit and residual limb tissue health, or measuring shearing between a foot sole and shoe for assessing performance in athletes. However, there are considerable challenges in implementing shear force sensors for orthopedic applications due to the requirements for noninvasiveness, light weight, low power, and robustness against motion artifacts, normal force, or electromagnetic fields. To address these challenges, this paper describes the design, fabrication, and characterization of a simple, low-cost, optoelectronic sensor that can measure multi-axial shear stresses. The sensor is based on a red, green, and blue (RGB) light-emitting diode (LED) cycling among red, green, and blue lights onto a color pattern surface. As shear strain causes a displacement between the LED and the color pattern, the relative intensities of reflected lights among the different colors change. A photodiode is used to capture the reflected light intensity at each color illumination, allowing the determination of the color pattern surface displacement, and in turn the shear, along two axes. In this paper, the efficacy of the sensor under benchtop testing conditions is reported, confirming the potential of this technology for shear monitoring at orthopedic devices such as protheses or shoes. Future efforts will focus on miniaturization and packaging of the sensors, and characterizing their performance for more medical and other types of applications.

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Tactile Sensors for Robots: A Review

Cited by 4 publications

References 11 publications

A new measurement system for high-resolution tactile imaging

A new measurement system for high-resolution tactile imaging

An Optoelectronics-Based Sensor for Measuring Multi-Axial Shear Stresses

An Optoelectronics-Based Sensor For Measuring Multi-Axial Shear Stresses

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