The DLR touch sensor I: A flexible tactile sensor for robotic hands based on a crossed-wire approach

Strohmayr, Michael; Saal, Hannes P.; Potdar, A.H.; Smagt, Patrick van der

doi:10.1109/iros.2010.5650191

Cited by 18 publications

(12 citation statements)

References 24 publications

(14 reference statements)

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“…For low loads the resistance of the taxel increases unexpectedly. This effect has been previously described in [26] and is caused by different elasticity of the stainless steel thread and the polymeric foil with its viscoelastic neoprene cover. Under load, the viscoelastic parts (polymeric foil and neoprene) move slowly.…”

Section: B Evaluation Of the Sensor Patchesmentioning

confidence: 73%

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: B Evaluation Of the Sensor Patchesmentioning

confidence: 73%

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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“…during a power grasp or a collision, the adjacent polymer spacers propagate the indentation force to the underlying mechanical damping layer. This all-polymer design prevents the mechanical destruction of the taxels, which was observed in a former study [23].…”

Section: Sensor Principlementioning

confidence: 65%

The DLR artificial skin step II: Scalability as a prerequisite for whole-body covers

Strohmayr

Schneider

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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In human skin, the ability to spatially discriminate an individual indentation from two simultaneous indentations is tailored to the need of the specific area of application on the human body. While the spatial resolution is comparatively low over wide areas of the human body, there are no insensitive spots. In addition, the measuring range is tuned to the expected loads on the respective part of the human body. Within this study these observations are utilized to solve some of the key challenges on the way towards an artificial skin as a whole-body cover for robotic systems. To enable the reliable detection of collision events which are commonly of very short duration the reaction time of the artificial skin system has to be minimized. In order to do so, the goal conflict between the required number of taxels and the required high readout frequencies has to be solved. We present the DLR approach towards scalable transduction hardware and readout electronics as a basis for the acquisition of tactile information from future whole-body covers. First experiments with prototypes of the DLR Artificial Skin demonstrate the scalability of the transduction hardware with respect to size, spatial resolution and measuring range.

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“…With the aim of match the human hand huge power and its sensory system, a wide variety of sensors have been produced. Tactile sensors are defined as a device that can measure a property of an object or contact event through physical contact between the sensor and the object" [58]. A brief resume of main tactile sensors in presented in table 4.…”

Section: Sensor Systemmentioning

confidence: 99%

“…A brief resume of main tactile sensors in presented in table 4. In [58] is presented a novel tactile sensor design, based on piezo-resistive soft material and a crossed-wire approach. Another specific example is exposed in [57], where a fully integrated tactile and 3-axis force sensor system is reported.…”

Section: Sensor Systemmentioning

confidence: 99%

Anthropomorphic robotic hands: a review

Melo¹,

Sánchez²,

Hurtado³

2014

inde

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This paper presents a review on main topic regarding to anthropomorphic robotic hands developed in the last years, taking into account the more important mechatronics designs submit on the literature, and making a comparison between them. The next chapters deepen on level of anthropomorphism and dexterity in advanced actuated hands and upper limbs prostheses, as well as a brief overview on issues such as grasping, transmission mechanisms, sensory and actuator system, and also a short introduction on under-actuated robotic hands is reported.

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The DLR touch sensor I: A flexible tactile sensor for robotic hands based on a crossed-wire approach

Cited by 18 publications

References 24 publications

A flexible and low-cost tactile sensor for robotic applications

A flexible and low-cost tactile sensor for robotic applications

The DLR artificial skin step II: Scalability as a prerequisite for whole-body covers

Anthropomorphic robotic hands: a review

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