The DLR artificial skin step I: Uniting sensitivity and collision tolerance

Strohmayr, Michael; Wörn, Heinz; Hirzinger, G.

doi:10.1109/icra.2013.6630697

Cited by 39 publications

(23 citation statements)

References 24 publications

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“…However, it cannot be denied that the closer robot and human are, the more safety issues would rise. In this reason, some researchers tried to design safetyoriented robot with compliant control [1], lightweight feature [2], artificial skin [3], or variable stiffness actuator (VSA) structure [4] to limit the potential injuries while unexpected collision occurs. Furthermore, due to the high cost of those extra apparatuses, lots of research tried to come up with how to avoid the obstacle collision beforehand, which is also 1 called contactless avoidance reaction, and it is also the safest way to tackle the safety issues.…”

Section: A Motivation and Related Workmentioning

confidence: 99%

Repulsive reaction vector generator for whole-arm collision avoidance of 7-DoF redundant robot manipulator

Luo

Chung

et al. 2014

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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In this paper, we propose a repulsive reaction vector generator (RVG) for whole-arm collision avoidance of 7-DoF redundant robot manipulator, and elucidate the case of spherical-revolute-spherical (S-R-S) type manipulator. Furthermore, this article discusses the obstacle-avoiding function of RVG, in which the generated reaction vector can aid the manipulator to achieve collision avoidance in an intuitive way by taking arm angle as the redundant parameter. First of all, we use six representative points to describe the manipulator, and generate the repulsive vectors according to the relationship between obstacle and the tip, wrist, and arm body of the manipulator, respectively. Next, after the pose of the manipulator, including position, orientation, and arm angle, is rectified by the reaction vector, the command would be sent to proposed vOTG to complete the reactive motion. As a result, the manipulator can achieve intuitive repulsive reaction, active whole-arm collision avoidance, and meanwhile avoiding the minor-risk obstacle by rotating the arm plane. Experimental results with NTU-iCeiRA arm developed in our lab and Microsoft Kinect depth sensor are presented.

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Section: A Motivation and Related Workmentioning

confidence: 99%

Repulsive reaction vector generator for whole-arm collision avoidance of 7-DoF redundant robot manipulator

Luo

Chung

et al. 2014

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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“…Over the past decade, tactile sensing devices have evolved from being located only on the fingertip to covering the full hand, even the whole body, of a humanoid robot. Many tactile sensors with various sensing principles and technologies have been developed, e.g., resistive (Kaltenbrunner et al 2013;Strohmayr et al 2013), capacitive (Schmitz et al 2011;Ulmen and Cutkosky 2010), optical (Ohmura et al 2006), piezoelectric (Dahiya et al 2009;Papakostas et al 2002), acoustic (Denei et al 2015;Hughes and Correll 2015) and, recently, organic bendable and stretchable (Lee et al 2016;Nawrocki et al 2016;Yogeswaran et al 2015), etc. However, in contrast to the rapid progress of tactile sensor advancement, considerably less attention has been given to research in tactile information processing and modelling (Kaboli et al 2015a).…”

Section: Motivationmentioning

confidence: 99%

Tactile-based active object discrimination and target object search in an unknown workspace

et al. 2018

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The tasks of exploring unknown workspaces and recognizing objects based on their physical properties are challenging for autonomous robots. In this paper, we present strategies solely based on tactile information to enable robots to accomplish such tasks. (1) An active exploration approach for the robot to explore unknown workspaces; (2) an active touch objects learning method that enables the robot to learn efficiently about unknown objects via their physical properties (stiffness, surface texture, and center of mass); and (3) an active object recognition strategy, based on the knowledge the robot has acquired. Furthermore, we propose a tactile-based approach for estimating the center of mass of rigid objects. Following the active touch for workspace exploration, the robotic system with the sense of touch in fingertips reduces the uncertainty of the workspace up to 65 and 70% compared respectively to uniform and random strategies, for a fixed number of samples. By means of the active touch learning method, the robot achieved 20 and 15% higher learning accuracy for the same number of training samples compared to uniform strategy and random strategy, respectively. Taking advantage of the prior knowledge obtained during the active touch learning, the robot took up to 15% fewer decision steps compared to the random method to achieve the same discrimination accuracy in active object discrimination task.

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“…Furthermore, distributed sensors that capture haptic signals over a wide area on the human body, e.g. the artificial skin presented in [11], increase the haptic data volume by multiples.…”

Section: A Motivation For Vibrotactile Texture Compressionmentioning

confidence: 99%

Perceptual and Bitrate-Scalable Coding of Haptic Surface Texture Signals

Chaudhari

Schuwerk

Danaei

et al. 2015

IEEE J. Sel. Top. Signal Process.

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Abstract-Applications involving indirect interpersonal communication, such as collaborative design/assembly/exploration of physical objects, can benefit strongly from the transmission of contact-based haptic media, in addition to the more traditional audiovisual media. Inclusion of haptic media has been shown to improve immersiveness, task performance, and the overall experience of task execution. While several decades of research have been dedicated to the acquisition, processing, coding, and display of audio and video streams, similar aspects for haptic streams have been addressed only recently.Simultaneous masking is a perceptual phenomenon widely exploited in the compression of audio data. In the first part of this paper, to the best of our knowledge, we present first-time empirical evidence for masking in the perception of wideband vibrotactile signals. Our results show that this phenomenon for haptics is very similar to its auditory analog. Signals closer in frequency to a powerful masker (25 dB above detection threshold) are masked more strongly (peak threshold-shifts of up to 28 dB) than those away from the masker (threshold-shifts of 15-20 dB). The masking curves approximately follow the masker's spectral profile. In the second part of this paper, we present a bitrate scalable haptic texture codec, which incorporates the masking model and describe its subjective and objective performance evaluation. Experiments show that we can drive down the codec output bitrate to a very low value of 2.3 kbps, without the subjects being able to reliable discriminate between the codec input and distorted output texture signals.

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The DLR artificial skin step I: Uniting sensitivity and collision tolerance

Cited by 39 publications

References 24 publications

Repulsive reaction vector generator for whole-arm collision avoidance of 7-DoF redundant robot manipulator

Repulsive reaction vector generator for whole-arm collision avoidance of 7-DoF redundant robot manipulator

Tactile-based active object discrimination and target object search in an unknown workspace

Perceptual and Bitrate-Scalable Coding of Haptic Surface Texture Signals

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