Three-Axis Contact Force Measurement of a Flexible Tactile Sensor Array for Hand Grasping Applications

2016 ◽  
pp. 67-79 ◽  
Author(s):  
Yancheng Wang ◽  
Kailun Xi ◽  
Deqing Mei ◽  
Zhihao Xin ◽  
Zichen Chen
Keyword(s):  
Contact Force ◽  
Sensor Array ◽  
Force Measurement ◽  
Tactile Sensor ◽  
Tactile Sensor Array

A Flexible Tactile Sensor Array Based on Pressure Conductive Rubber for Contact Force Measurement and Slip Detection

2016 ◽  
Vol 28 (3) ◽  
pp. 378-385 ◽  
Author(s):  
Yancheng Wang ◽  
◽  
Kailun Xi ◽  
Deqing Mei ◽  
Guanhao Liang ◽  
...  
Keyword(s):  
Contact Force ◽  
Sensor Array ◽  
Force Measurement ◽  
Tactile Sensor ◽  
Prosthetic Hand ◽  
Discrete Wavelet ◽  
Conductive Rubber ◽  
Sensing Material ◽  
Tactile Sensor Array ◽  
Slip Detection

[abstFig src='/00280003/14.jpg' width=""300"" text='A wearable tactile sensor array for three-axis contact force measurement and slip detection in prosthetic hand grasping' ] Using INASTAMOR pressure-conductive rubber as the sensing material, we developed a flexible tactile sensor array to measure three-axis contact force and slip. The sensor array has 9 (3 × 3) sensing units, each consisting of three layers, i.e., a bottom electrode, conductive rubber chips, a top polydimethylsiloxane (PDMS) bump. We detailed the array’s structural design, working principle, and fabrication process. We also characterize the array’s three-axis force measurement performance. The full-scale force measurement ranges and sensitivities in <em>x</em>-, <em>y</em>-, and <em>z</em>-axes are characterized as 5, 5, 20 N and 0.675, 0.677, 0.251 V/N, respectively. The array is mounted on a prosthetic hand for detecting contact force and slip occurrence in grasping. Results showed that the array measures three-axis contact force and detects slippage by using discrete wavelet transformation. The tactile sensor array has potential applications in robot-hand grasping that require simultaneous slip detection and three-axis contact force measurement.

scholarly journals A Novel Inverse Solution of Contact Force Based on a Sparse Tactile Sensor Array

Sensors ◽  
2018 ◽  
Vol 18 (2) ◽  
pp. 351 ◽  
Author(s):  
◽  
◽  
◽  
◽  
Keyword(s):  
Contact Force ◽  
Sensor Array ◽  
Tactile Sensor ◽  
Inverse Solution ◽  
Tactile Sensor Array

Flexible Capacitive Tactile Sensor Array With Truncated Pyramids as Dielectric Layer for Three-Axis Force Measurement

2015 ◽  
Vol 24 (5) ◽  
pp. 1510-1519 ◽  
Author(s):  
Guanhao Liang ◽  
Yancheng Wang ◽  
Deqing Mei ◽  
Kailun Xi ◽  
Zichen Chen
Keyword(s):  
Dielectric Layer ◽  
Sensor Array ◽  
Force Measurement ◽  
Tactile Sensor ◽  
Tactile Sensor Array

A flexible tactile sensor array for dynamic triaxial force measurement based on aligned piezoresistive nanofibers

2021 ◽  
pp. 1-1
Author(s):  
Yi Gong ◽  
Xiaoying Cheng ◽  
Zhenyu Wu ◽  
Yisheng Liu ◽  
Ping Yu ◽  
...  
Keyword(s):  
Sensor Array ◽  
Force Measurement ◽  
Tactile Sensor ◽  
Tactile Sensor Array

scholarly journals Robot Grasping System and Grasp Stability Prediction Based on Flexible Tactile Sensor Array

Machines ◽  
2021 ◽  
Vol 9 (6) ◽  
pp. 119
Author(s):  
Tong Li ◽  
Xuguang Sun ◽  
Xin Shu ◽  
Chunkai Wang ◽  
Yifan Wang ◽  
...  
Keyword(s):  
Prediction Model ◽  
Contact Force ◽  
Sensor Array ◽  
Prediction Models ◽  
Tactile Sensor ◽  
Training Data ◽  
Stability Prediction ◽  
Grasp Stability ◽  
Tactile Sensor Array ◽  
Robot Grasping

As an essential perceptual device, the tactile sensor can efficiently improve robot intelligence by providing contact force perception to develop algorithms based on contact force feedback. However, current tactile grasping technology lacks high-performance sensors and high-precision grasping prediction models, which limits its broad application. Herein, an intelligent robot grasping system that combines a highly sensitive tactile sensor array was constructed. A dataset that can reflect the grasping contact force of various objects was set up by multiple grasping operation feedback from a tactile sensor array. The stability state of each grasping operation was also recorded. On this basis, grasp stability prediction models with good performance in grasp state judgment were proposed. By feeding training data into different machine learning algorithms and comparing the judgment results, the best grasp prediction model for different scenes can be obtained. The model was validated to be efficient, and the judgment accuracy was over 98% in grasp stability prediction with limited training data. Further, experiments prove that the real-time contact force input based on the feedback of the tactile sensor array can periodically control robots to realize stable grasping according to the real-time grasping state of the prediction model.

scholarly journals Flexible Piezoelectric Tactile Sensor Array for Dynamic Three-Axis Force Measurement

Sensors ◽  
2016 ◽  
Vol 16 (6) ◽  
pp. 819 ◽  
Author(s):  
Ping Yu ◽  
Weiting Liu ◽  
Chunxin Gu ◽  
Xiaoying Cheng ◽  
Xin Fu
Keyword(s):  
Sensor Array ◽  
Force Measurement ◽  
Tactile Sensor ◽  
Tactile Sensor Array

Modeling and Analysis of a Flexible Capacitive Tactile Sensor Array for Normal Force Measurement

2014 ◽  
Vol 14 (11) ◽  
pp. 4095-4103 ◽  
Author(s):  
Guanhao Liang ◽  
Deqing Mei ◽  
Yancheng Wang ◽  
Zichen Chen
Keyword(s):  
Sensor Array ◽  
Normal Force ◽  
Force Measurement ◽  
Tactile Sensor ◽  
Modeling And Analysis ◽  
Tactile Sensor Array
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