Highly sensitive capacitive flexible 3D-force tactile sensors for robotic grasping and manipulation

For dexterous grasping and manipulation, tactile sensors recognizing contact object are essential. Electronic skin (E-skin) with tactile sensors plays a role as both receiving information for grasping and protecting robot frame. This paper presents a polymer tactile sensor covering large area to fulfill role of E-skin. The sensor has a thin air gap between polymer layers and it is deformed reacting slip input. When slip is occurred, there is relative displacement between surrounding layer and it incurs change of electrode separation. NBR is used to sensor substrate because of its tough and flexible characteristic. Ultrathin aluminum tape is employed for electrodes. There is a changeability of size of the sensor because of its simple but effective working principle and structure. Slip detecting algorithm doesn’t have a post process such as FFT or DWT, so there isn’t delay for processing time. It realizes real-time slip detection reducing reaction time of robot hand.

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Bioinspired design of highly sensitive flexible tactile sensors for wearable healthcare monitoring

Materials Today Chemistry ◽

10.1016/j.mtchem.2021.100718 ◽

2022 ◽

Vol 23 ◽

pp. 100718

Author(s):

J. Chen ◽

L. Li ◽

Z. Zhu ◽

Z. Luo ◽

W. Tang ◽

...

Keyword(s):

Tactile Sensors ◽

Bioinspired Design ◽

Highly Sensitive ◽

Healthcare Monitoring

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Neuromorphic Event-Based Slip Detection and Suppression in Robotic Grasping and Manipulation

IEEE Access ◽

10.1109/access.2020.3017738 ◽

2020 ◽

Vol 8 ◽

pp. 153364-153384 ◽

Cited By ~ 1

Author(s):

Rajkumar Muthusamy ◽

Xiaoqian Huang ◽

Yahya Zweiri ◽

Lakmal Seneviratne ◽

Dongming Gan

Keyword(s):

Robotic Grasping ◽

Grasping And Manipulation ◽

Event Based ◽

Slip Detection

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Mechanisms for Robotic Grasping and Manipulation

Annual Review of Control Robotics and Autonomous Systems ◽

10.1146/annurev-control-061520-010405 ◽

2020 ◽

Vol 4 (1) ◽

Author(s):

Vincent Babin ◽

Clément Gosselin

Keyword(s):

Online Publication ◽

Autonomous Systems ◽

Robotic Manipulation ◽

Annual Review ◽

Publication Date ◽

Robotic Grasping ◽

Grasp Planning ◽

Grasping And Manipulation

This article reviews the literature on the design of robotic mechanical grippers, with a focus on the mechanical aspects, which are believed to be the main bottleneck for effective designs. Our discussion includes gripper architectures and means of actuation, anthropomorphism and grasp planning, and robotic manipulation, emphasizing the complementary concepts of intrinsic and extrinsic dexterity. We also consider interactions of robotic grippers with the environment and with the objects to be grasped and argue that the proper handling of such interactions is key to the development of grasping and manipulation tools and scenarios. Finally, we briefly present examples of recent designs to support the discussion. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 3, 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

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