A Flexible Tactile Capacitive Sensor for Slip Detection

2011 ◽  
Author(s):  
Jinah Chung ◽  
Baek-chul Kim ◽  
H. R. Choi ◽  
H. P. Moon ◽  
Y. K. Lee ◽  
...  
Keyword(s):  
Tactile Sensor ◽  
Capacitive Sensor ◽  
Robot Hand ◽  
Sensor Device ◽  
Sensor Structure ◽  
Slip Sensor ◽  
Slip Detection

A tactile sensor for slip detection is necessary for humanlike grasping in robot hand. This paper reports a capacitive tactile slip sensor that can detect slip on the surface of the sensor structure. The newly developed capacitive slip sensor uses acrlyro-nitrile butadien rubber (NBR) as substrate. The presented sensor device in this paper has fingerprint -like structures that are similar with the role of the human’s fingerprint. Movement of the structure that attached on surface of substrate arise capacitance changes, and these are used to detect slip. We carried out slip experiment by prototype of capacitive slip sensor and slip was successfully detected.

scholarly journals A Non-Array Type Cut to Shape Soft Slip Detection Sensor Applicable to Arbitrary Surface

Sensors ◽  
2020 ◽  
Vol 20 (21) ◽  
pp. 6185
Author(s):  
Sung Joon Kim ◽  
Seung Ho Lee ◽  
Hyungpil Moon ◽  
Hyouk Ryeol Choi ◽  
Ja Choon Koo
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Tactile Sensor ◽  
Neural Network Models ◽  
Time Frequency ◽  
Contact Points ◽  
Sensor Structure ◽  
Artificial Neural ◽  
Slip Sensor ◽  
Slip Detection

The presence of a tactile sensor is essential to hold an object and manipulate it without damage. The tactile information helps determine whether an object is stably held. If a tactile sensor is installed at wherever the robot and the object touch, the robot could interact with more objects. In this paper, a skin type slip sensor that can be attached to the surface of a robot with various curvatures is presented. A simple mechanical sensor structure enables the cut and fit of the sensor according to the curvature. The sensor uses a non-array structure and can operate even if a part of the sensor is cut off. The slip was distinguished using a simple vibration signal received from the sensor. The signal is transformed into the time-frequency domain, and the slippage was determined using an artificial neural network. The accuracy of slip detection was compared using four artificial neural network models. In addition, the strengths and weaknesses of each neural network model were analyzed according to the data used for training. As a result, the developed sensor detected slip with an average of 95.73% accuracy at various curvatures and contact points.

scholarly journals Grasping Force Control of Multi-fingered Robot Hand based on Slip Detection Using Tactile Sensor

2007 ◽  
Vol 25 (6) ◽  
pp. 970-978 ◽  
Author(s):  
Daisuke Gunji ◽  
Takuma Araki ◽  
Akio Namiki ◽  
Aiguo Ming ◽  
Makoto Shimojo
Keyword(s):  
Force Control ◽  
Tactile Sensor ◽  
Robot Hand ◽  
Grasping Force ◽  
Slip Detection

Detection of Slippage Using Flexible Tactile Sensor for a Robot Fingertip

2016 ◽  
Author(s):  
Sung Joon Kim ◽  
Jae Young Choi ◽  
Hyung Pil Moon ◽  
Hyouk Ryeol Choi ◽  
Ja Choon Koo
Keyword(s):  
Flexible Substrate ◽  
Tactile Sensor ◽  
Fatigue Tests ◽  
Butadiene Rubber ◽  
Robot Hand ◽  
Complicated Structure ◽  
Resistance Change ◽  
Sensor Structure ◽  
Small Structure ◽  
Graphene Material

Tactile sensor for detecting slip is essential to grasp an object safely in a robot hand with a complicated structure and various functions. In this paper, sensors with three patterns in different forms are designed to sense slip moment through a resistance change. The slip sensors developed in this paper have flexible and stretchable characteristics to be used on the robot hand surface. For realizing these characteristics, acrylonitrile-butadiene rubber (NBR) is used as a substrate of the sensor. Graphene material is employed bacause of suitable for flexible substrate as an electrode. An imprint process to produce a micro-unit sensor structure is newly developed. As a result, sensors can have an extremely small structure like human fingerprint. Experiments for performance of the developed sensors are conducted. In addition, a stretchable and fatigue tests are conducted to verify the performance of sensors with a flexible characteristic like the human skin.

Ultra-Sensitive Breath Sensor Device for Sleep Disorder Monitoring and Clinical Studying

2016 ◽  
Vol 846 ◽  
pp. 484-489
Author(s):  
Yusoff Noriah ◽  
Nor Hayati Saad ◽  
Mohsen Nabipoor ◽  
Suraya Sulaiman
Keyword(s):  
Sleep Disorder ◽  
Human Subjects ◽  
Chemical Vapor ◽  
Capacitive Sensor ◽  
Fast Response ◽  
Sleep Monitoring ◽  
Sensor Device ◽  
Sensing Material ◽  
Sensor Structure ◽  
Multi Walled Carbon Nanotubes

Sleep disorder study by means of polysomnography (PSG) is the most well adopted and reliable procedure in medical practice. The present-day sleep monitoring devices for the PSG procedure is equipped with relatively expensive apparatus and technically complex modus operandi. Thus the PSG procedure must be conducted by well trained personnel. This study is about development of an ultra-sensitive breath sensor for medical procedures. The miniature size breath sensor design gives an added advantage on the final design of the sleep monitoring device for sleep disorder study or personal therapy. This solid state breath sensor is structured with micro tungsten inter-digitated electrode (IDE) platform that covered with multi-walled carbon nanotubes (MWCNT) as sensing material. The MWCNT is grown on a thin oxide layer on top of the tungsten IDE using plasma enhance chemical vapor deposition (PECVD) technique. These MWCNT structures are capable of sensing and capturing breathing behavior thus a quick response capacitive sensor is developed. Typical photolithography and sputtering processes are involved in the sensor structure fabrication. A customized test jig imitating a human like breathing pulse was fabricated to test the sensor’s performance in relation to sensitivity and response time. Human subjects are used as well to further confirm the breath sensor performance. The research study shows this newly developed breath sensor device is highly sensitive and shows remarkably fast response; within sub-second.

Grasping force control of multi-fingered robot hand based on slip detection using tactile sensor

2008 ◽  
Author(s):  
Daisuke Gunji ◽  
Yoshitomo Mizoguchi ◽  
Seiichi Teshigawara ◽  
Aiguo Ming ◽  
Akio Namiki ◽  
...  
Keyword(s):  
Force Control ◽  
Tactile Sensor ◽  
Robot Hand ◽  
Grasping Force ◽  
Slip Detection

A New Highly Sensitive Dielectric Slip Detection Sensor for a Robotic Operation

2017 ◽  
Author(s):  
Sung Joon Kim ◽  
Ja Choon Koo
Keyword(s):  
Tactile Sensor ◽  
Relative Displacement ◽  
Large Area ◽  
Tactile Sensors ◽  
Post Process ◽  
Highly Sensitive ◽  
Grasping And Manipulation ◽  
Working Principle ◽  
Slip Detection

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.

Grasping force control of multi-fingered robot hand based on slip detection sing tactile sensor

2008 ◽  
Author(s):  
Daisuke Gunji ◽  
Yoshitomo Mizoguch ◽  
Seiichi Teshigawara ◽  
Aiguo Ming ◽  
Akio Namiki ◽  
...  
Keyword(s):  
Force Control ◽  
Tactile Sensor ◽  
Robot Hand ◽  
Grasping Force ◽  
Slip Detection

Model of a Slip Sensor

1993 ◽  
Vol 207 (1) ◽  
pp. 55-64 ◽  
Author(s):  
F Eghtedari ◽  
S H Hopkins ◽  
D T Pham
Keyword(s):  
Solid State ◽  
Computer Modelling ◽  
Design Parameters ◽  
Slip Sensor ◽  
Fringe Patterns ◽  
Switching Characteristics ◽  
Main Components ◽  
Photoelastic Sensor ◽  
Slip Detection

This paper describes the mathematical and computer modelling of a photoelastic sensor for slip detection. The main components of the sensor are a photoelastic transducer and a solid state camera. When under stress, the photoelastic transducer generates optical fringe patterns which are captured digitally by the camera. The model developed encompasses the mechanical and optical behaviours of the photoelastic transducer and the switching characteristics of the camera pixels. The model has been employed to study the effects of different design parameters on the sensor's slip resolution.

A High-Speed Tactile Sensor for Slip Detection

2012 ◽  
pp. 403-415 ◽  
Author(s):  
Carsten Schürmann ◽  
Matthias Schöpfer ◽  
Robert Haschke ◽  
Helge Ritter
Keyword(s):  
High Speed ◽  
Tactile Sensor ◽  
Slip Detection
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