Wearable skin vibration sensor using a PVDF film

Tanaka, Yoshihiro; Nguyen, Duy Phuong; Fukuda, Tomohiro; Sano, Akihito

doi:10.1109/whc.2015.7177705

Cited by 54 publications

(15 citation statements)

References 16 publications

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“…Wearable Devices. In this study, the wearable skin vibration sensor developed by Tanaka et al [10] is used for sending tactile information from the human to the robot. The sensor uses polyvinylidene difluoride (PVDF) film and detects vibrations propagating on the human skin surface.…”

Section: Methodsmentioning

confidence: 99%

Shared Haptic Perception for Human-Robot Collaboration

Katayama

Pozzi

Tanaka

et al. 2020

Lecture Notes in Computer Science

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To obtain a fluent human-robot collaboration, reciprocal awareness is fundamental. In this paper, we propose to achieve it by creating a haptic connection between the human operator and the collaborative robot. Data coming from a wearable skin vibration sensor are used by the robot to recognize human actions, and vibrotactile signals are used to inform the human about the correct recognition of her/his actions. It is shown that the proposed communication paradigm, based on shared haptic perception, allows to improve cycle time performance in a complex human-robot collaborative task.

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Section: Methodsmentioning

confidence: 99%

Shared Haptic Perception for Human-Robot Collaboration

Katayama

Pozzi

Tanaka

et al. 2020

Lecture Notes in Computer Science

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“…Contact with any surface is associated with movement which is expected to lead to small vibrations of the finger. Previous studies have shown that these vibrations can be useful to detect roughness of touched materials [15,16].Using a stethoscope, Delhay et al have showed that vibrations generated as a result of interaction of a finger with a rough surface is transmitted even uptill the wrist [10]. We therefore hypothesized that an accelerometer mounted on a finger may serve as a suitable transducer to decode surface texture, and hence material.…”

Section: Introductionmentioning

confidence: 95%

Accurate Decoding of Material Textures Using a finger Mounted Accelerometer

Sakurada¹,

Ganesh²,

Yu³

et al. 2018

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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“…Although wearable tactile sensors equipped with accelerometers can be light, cheap, and simple, they place strict constraints on the speed of exploration, because together with skin vibrations, the sensor output includes the motion of body parts. In the proposed study, we utilized the wearable skin vibration sensor developed by Tanaka et al [16], shown in Fig. 2.…”

Section: Wearable Vibration Sensormentioning

confidence: 99%

Sensory-motor augmentation of the robot with shared human perception

Ishida

Meli

Tanaka

et al. 2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Robots have replaced people in many manufacturing production lines but the information they gather from sensors might not be sufficient to autonomously accomplish dexterous manipulation operations. Symbiotic human-robot cooperation appears to be a more realistic near future in industrial scenarios. In this paper we present a configuration of human-robot collaboration in which the robot is sensoryaugmented by means of a set of tactile signals coming from the human operator. The incorporation of low-level robot "intelligence" permits the cooperative manipulation of an object while enabling the human operator to stay focused on task itself and carry it out in the most natural way. The effectiveness of this approach is demonstrated in a use case in which a robot helps a human operator to successfully accomplish a writing task. System performance has been evaluated, considering several positions of the tiny vibration sensor in charge of gathering the human perception, by testing it on both the human hand and the co-manipulated object. Results suggest that the sensor provides valuable information for recognizing operator actions when it is placed either on the human hand or on the co-manipulated object. However, the sensor on the finger directly represents the operator's perception, while the output of the sensor attached to the object changes according to the distance between the interaction point and the sensor itself. In addition, in wearing the sensor, neither the object nor the robot need to be instrumented: the operator is free to interact with a large set of objects and collaborate with any existing robot without requiring supplemental equipment. The research leading to these results has received funding from the European Union's Horizon 2020 Research and Innovation Programme under Grant Agreement n • 688857 of the project "SoftPro" and Japan Science and Technology Agency, PRESTO n • JPMJPR14D7.

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Wearable skin vibration sensor using a PVDF film

Cited by 54 publications

References 16 publications

Shared Haptic Perception for Human-Robot Collaboration

Shared Haptic Perception for Human-Robot Collaboration

Accurate Decoding of Material Textures Using a finger Mounted Accelerometer

Sensory-motor augmentation of the robot with shared human perception

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