Low-cost 3-axis soft tactile sensors for the human-friendly robot Vizzy

2017 ◽  
Author(s):  
Tiago Paulino ◽  
Pedro Ribeiro ◽  
Miguel Neto ◽  
Susana Cardoso ◽  
Alexander Schmitz ◽  
...  
Keyword(s):  
Low Cost ◽  
Tactile Sensors

Stable In-Grasp Manipulation with a Low-Cost Robot Hand by Using 3-Axis Tactile Sensors with a CNN

2020 ◽  
Author(s):  
Satoshi Funabashi ◽  
Tomoki Isobe ◽  
Shun Ogasa ◽  
Tetsuya Ogata ◽  
Alexander Schmitz ◽  
...  
Keyword(s):  
Low Cost ◽  
Robot Hand ◽  
Tactile Sensors

scholarly journals A low-cost, human-like, high-resolution, tactile sensor based on optical fibers and an image sensor

2018 ◽  
Vol 15 (4) ◽  
pp. 172988141878363 ◽  
Author(s):  
Utku Büyükşahin ◽  
Ahmet Kırlı
Keyword(s):  
High Resolution ◽  
Spatial Resolution ◽  
Fiber Optic ◽  
Low Cost ◽  
Experimental Studies ◽  
Main Idea ◽  
Tactile Sensor ◽  
Image Sensor ◽  
Sensor Design ◽  
Tactile Sensors

Tactile sensors are commonly a coordinated group of receptors forming a matrix array meant to measure force or pressure similar to the human skin. Optic-based tactile sensors are flexible, sensitive, and fast; however, the human fingertip’s spatial resolution, which can be regarded as the desired spatial resolution, still could not be reached because of their bulky nature. This article proposes a novel and patented optic-based tactile sensor design, in which fiber optic cables are used to increase the number of sensory receptors per square centimeter. The proposed human-like high-resolution tactile sensor design is based on simple optics and image processing techniques, and it enables high spatial resolution and easy data acquisition at low cost. This design proposes using the change in the intesity of the light occured due to the deformation on contact/measurement surface. The main idea is using fiber optic cables as the afferents of the human physiology which can have 9 µm diameters for both delivering and receiving light beams. The variation of the light intensity enters sequent mathematical models as the input, then, the displacement, the force, and the pressure data are evaluated as the outputs. A prototype tactile sensor is manufactured with 1-mm spatial and 0.61-kPa pressure measurement resolution with 0–15.6 N/cm2 at 30 Hz sampling frequency. Experimental studies with different scenarios are conducted to demonstrate how this state-of-the-art design worked and to evaluate its performance. The overall accuracy of the first prototype, based on different scenarios, is calculated as 93%. This performance is regarded as promising for further developments and applications such as grasp control or haptics.

Commercial tactile sensors for hand exoskeletons: practical considerations for ultra-low cost and very-low complexity read-out

2016 ◽  
Vol 19 (5) ◽  
pp. 49-56 ◽  
Author(s):  
Alessia Damilano ◽  
Andrea Lince ◽  
Silvia Appendino ◽  
Hafiz Muhammad Afzal Hayat ◽  
Paolo Ariano ◽  
...  
Keyword(s):  
Low Cost ◽  
Low Complexity ◽  
Tactile Sensors

A Low-Cost Visual Grasp Aid for Neuropathy Patients Using Flexible 3D Printed Tactile Sensors

2021 ◽  
Author(s):  
Md Omar Faruk Emon ◽  
Alex Russell ◽  
Gopal Nadkarni ◽  
Jae-Won Choi
Keyword(s):  
Electronic Device ◽  
Low Cost ◽  
Tactile Sensor ◽  
Tactile Sensors ◽  
Robotic Hands ◽  
Object A ◽  
Wearable Electronic Device ◽  
Visual Aid ◽  
Real Time Visualization ◽  
3D Printed

Abstract Neuropathy is a nerve-damaging disease that causes those affected to lose feeling in their otherwise functional limbs. It can cause permanent numbing to the peripheral limb of a patient such as a hand or foot. In this report, we present a real-time visualization aid for grasp realization that can be used by patients experiencing numbness of the limb. This wearable electronic device was developed on an open-source microcontroller-based platform. This is a very simple and inexpensive solution. It is referred to as a NeuroGlove, and it provides patients with a visual light scale to allow them to understand the strength of the grasp they have on any object. A soft tactile sensor was additively manufactured by utilizing a multi-material direct-print system. The sensor consists of an ionic liquid-based pressure-sensitive membrane, stretchable electrodes, and insulation membranes. The printed flexible polymeric sensor was evaluated under varying forces. Next, the fabricated sensor was integrated with a microcontroller board where it was programmed to respond in a light scale according to the applied force on the sensor. Finally, the sensor-microcontroller system was installed on a glove to demonstrate a wearable visual aid for neuropathy patients. Additive manufacturing offers the ability for customization in a design, material, and geometry that could potentially lead to printing sensors on prosthetic or robotic hands.

Simple and Low-Cost Fabrication of Flexible Capacitive Tactile Sensors

2011 ◽  
Vol 50 (1R) ◽  
pp. 016502 ◽  
Author(s):  
Takashi Kasahara ◽  
Masanori Mizushima ◽  
Hidetoshi Shinohara ◽  
Tsutomu Obata ◽  
Tomoaki Futakuchi ◽  
...  
Keyword(s):  
Low Cost ◽  
Tactile Sensors

scholarly journals A Survey of Tactile-Sensing Systems and Their Applications in Biomedical Engineering

2020 ◽  
Vol 2020 ◽  
pp. 1-17 ◽  
Author(s):  
Yousef Al-Handarish ◽  
Olatunji Mumini Omisore ◽  
Tobore Igbe ◽  
Shipeng Han ◽  
Hui Li ◽  
...  
Keyword(s):  
Minimally Invasive ◽  
Biomedical Engineering ◽  
High Performance ◽  
Low Cost ◽  
Tactile Sensing ◽  
Tactile Sensors ◽  
Minimally Invasive Surgical ◽  
Sensing Systems ◽  
Sensing Technology ◽  
Minimally Invasive Robotic Surgery

Over the past few decades, tactile sensors have become an emerging field of research in both academia and industry. Recent advances have demonstrated application of tactile sensors in the area of biomedical engineering and opened up new opportunities for building multifunctional electronic skin (e-skin) which is capable of imitating the human sense-of-touch for medical purposes. Analyses have shown that current smart tactile sensing technology has the advantages of high performance, low-cost, time efficiency, and ease-of-fabrication. Tactile sensing systems have thus sufficiently matured for integration into several fields related to biomedical engineering. Furthermore, artificial intelligence has the potential for being applied in human-machine interfacing, for instance, in medical robotic manipulation, especially during minimally invasive robotic surgery, where tactile sensing is usually a problem. In this survey, we present a comprehensive review of the state of the art of tactile sensors. We focus on the technical details of transduction mechanisms such as piezoresistivity, capacitance, piezoelectricity, and triboelectric and highlight the role of novel and commonly used materials in tactile sensing. In addition, we discuss contributions that have been reported in the field of biomedical engineering, which includes its present and future applications in building multifunctional e-skins, human-machine interfaces, and minimally invasive surgical robots. Finally, some challenges and notable improvements that have been made in the technical aspects of tactile sensing systems are reported.

Simple and Low-Cost Fabrication of Flexible Capacitive Tactile Sensors

2011 ◽  
Vol 50 ◽  
pp. 016502 ◽  
Author(s):  
Takashi Kasahara ◽  
Masanori Mizushima ◽  
Hidetoshi Shinohara ◽  
Tsutomu Obata ◽  
Tomoaki Futakuchi ◽  
...  
Keyword(s):  
Low Cost ◽  
Tactile Sensors

scholarly journals Design and Evaluation of Magnetic Hall Effect Tactile Sensors for Use in Sensorized Splints

Sensors ◽  
2020 ◽  
Vol 20 (4) ◽  
pp. 1123 ◽  
Author(s):  
Dominic Jones ◽  
Lefan Wang ◽  
Ali Ghanbari ◽  
Vasiliki Vardakastani ◽  
Angela E. Kedgley ◽  
...  
Keyword(s):  
Hall Effect ◽  
Mechanical Response ◽  
Low Cost ◽  
Measurement Range ◽  
Design Parameters ◽  
Great Promise ◽  
Tactile Sensors ◽  
Significant Difference ◽  
Applied Forces ◽  
The Relationship

Splinting techniques are widely used in medicine to inhibit the movement of arthritic joints. Studies into the effectiveness of splinting as a method of pain reduction have generally yielded positive results, however, no significant difference has been found in clinical outcomes between splinting types. Tactile sensing has shown great promise for the integration into splinting devices and may offer further information into applied forces to find the most effective methods of splinting. Hall effect-based tactile sensors are of particular interest in this application owing to their low-cost, small size, and high robustness. One complexity of the sensors is the relationship between the elastomer geometry and the measurement range. This paper investigates the design parameters of Hall effect tactile sensors for use in hand splinting. Finite element simulations are used to locate the areas in which sensitivity is high in order to optimise the deflection range of the sensor. Further simulations then investigate the mechanical response and force ranges of the elastomer layer under loading which are validated with experimental data. A 4 mm radius, 3 mm-thick sensor is identified as meeting defined sensing requirements for range and sensitivity. A prototype sensor is produced which exhibits a pressure range of 45 kPa normal and 6 kPa shear. A proof of principle prototype demonstrates how this can be integrated to form an instrumented splint with multi-axis sensing capability and has the potential to inform clinical practice for improved splinting.

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