scholarly journals Texture Identification of Objects Using a Robot Fingertip Module with Multimodal Tactile Sensing Capability

2021 ◽  
Vol 11 (11) ◽  
pp. 5256
Author(s):  
Bo-Gyu Bok ◽  
Jin-Seok Jang ◽  
Min-Seok Kim
Keyword(s):  
Thermal Conductivity ◽  
Direct Contact ◽  
Research Team ◽  
Force Measurement ◽  
Tactile Sensor ◽  
Measurement Range ◽  
Temperature Sensing ◽  
Vertical Force ◽  
Multimodal Sensing ◽  
Repeatability Error

Modern robots fall behind humans in terms of the ability to discriminate between textures of objects. This is due to the fact that robots lack the ability to detect the various tactile modalities that are required to discriminate between textures of objects. Hence, our research team developed a robot fingertip module that can discriminate textures of objects via direct contact. This robot fingertip module is based on a tactile sensor with multimodal (3-axis force and temperature) sensing capabilities. The multimodal tactile sensor was able to detect forces in the vertical (Z-axis) direction as small as 0.5 gf and showed low hysteresis error and repeatability error of less than 3% and 2% in the vertical force measurement range of 0–100 gf, respectively. Furthermore, the sensor was able to detect forces in the horizontal (X- and Y-axes) direction as small as 20 mN and could detect 3-axis forces with an average cross-talk error of less than 3%. In addition, the sensor demonstrated its multimodal sensing capability by exhibiting a near-linear output over a temperature range of 23–35 °C. The module was mounted on a motorized stage and was able to discriminate 16 texture samples based on four tactile modalities (hardness, friction coefficient, roughness, and thermal conductivity).

Upconversion nanoparticle–Ag@C@Ag composite films for rapid temperature sensing

CrystEngComm ◽  
2021 ◽  
Author(s):  
Hu Huang ◽  
Lingqiong Wu ◽  
Shengbin Cheng ◽  
Xiaofeng Wu ◽  
Shiping Zhan ◽  
...  
Keyword(s):  
Thermal Conductivity ◽  
Ag Nanoparticles ◽  
Response Rate ◽  
Composite Films ◽  
Temperature Sensing ◽  
Upconversion Nanoparticles ◽  
Rapid Temperature

The response rate of optical temperature sensing of upconversion nanoparticles is significantly improved by coupling with Ag@C@Ag nanoparticles which have excellent thermal conductivity.

scholarly journals Characteristics of Optical Silicone Tactile Sensor

2015 ◽  
Vol 76 (1) ◽  
Author(s):  
Nurul Fathiah Mohamed Rosli ◽  
Muhammad Azmi Ayub ◽  
Roseleena Jaafan
Keyword(s):  
Endoscopic Surgery ◽  
Biomedical Applications ◽  
Force Measurement ◽  
Research Work ◽  
Surface Hardness ◽  
Tactile Sensor ◽  
Computer Algorithm ◽  
Anal Ysis ◽  
Area And Perimeter ◽  
Images Processing

The main objective of this research work is to anal yze the characteristics of a newly developed optical tactile sensor for sensing surface hardness. Many optical tactile sensors are bulky in size and lack of dexterity for biomedical applications. Therefore, this tactile sensor is design relative small in size and flexible for easier insertion in endoscopic surgery application. The characteristics of the tactile sensor are calibrated with respect to changes in the diameter, area and perimeter of a silicon tactile sensor subjected to normal forces applied at the point of interaction. A surface exploration computer algorithm to obtain the sensing information was developed to analyse the characteristic of the optical tactile sensor. The overall image anal ysis technique involves the following main stages: image acquisition (capturing of images), processing (thresholding, noise filtering and boundary detection ) and evaluation (force measurement). The measured forces were then compared to the actual forces to determine the accuracy of the tactile sensor’s characteristics. The results showed tluit the sensing characteristic with respect to changes in perimeter of the tactile sensor is more accurate compared to the other sensing characteristics. The outcomes of this research shows that the functionality of the developed new image anal ysis computer algorithm coupled with the silicone tactile sensor is suitable for biomedical applications such as in endoscopic surgery for measurement of tissue softness.

A Flexible Tactile Sensor Based on Porous Graphene Sponge for Tiny Force Measurement

2018 ◽  
Author(s):  
Lingfeng Zhu ◽  
Yancheng Wang ◽  
Xin Wu ◽  
Deqing Mei
Keyword(s):  
Force Measurement ◽  
High Sensitivity ◽  
Tactile Sensor ◽  
Tactile Sensors ◽  
Force Detection ◽  
Pressure Sensing ◽  
Porous Graphene ◽  
Graphene Sponge ◽  
Healthcare Monitoring ◽  
Working Principle

Flexible tactile sensors have been utilized for epidermal pressure sensing, motion detecting, and healthcare monitoring in robotic and biomedical applications. This paper develops a novel piezoresistive flexible tactile sensor based on porous graphene sponges. The structural design, working principle, and fabrication method of the tactile sensor are presented. The developed tactile sensor has 3 × 3 sensing units and has a spatial resolution of 3.5 mm. Then, experimental setup and characterization of this tactile sensor are conducted. Results indicated that the developed flexible tactile sensor has good linearity and features two sensitivities of 2.08 V/N and 0.68 V/N. The high sensitivity can be used for tiny force detection. Human body wearing experiments demonstrated that this sensor can be used for distributed force sensing when the hand stretches and clenches. Thus the developed tactile sensor may have great potential in the applications of intelligent robotics and healthcare monitoring.

Direct stamping multifunctional tactile sensor for pressure and temperature sensing

Nano Research ◽  
2021 ◽  
Author(s):  
Binghao Liang ◽  
Bingfang Huang ◽  
Junkai He ◽  
Rongliang Yang ◽  
Chengchun Zhao ◽  
...  
Keyword(s):  
Tactile Sensor ◽  
Temperature Sensing

scholarly journals Distributed Thermal Response Tests Using a Heating Cable and Fiber Optic Temperature Sensing

Energies ◽  
2018 ◽  
Vol 11 (11) ◽  
pp. 3059 ◽  
Author(s):  
Maria Vélez Márquez ◽  
Jasmin Raymond ◽  
Daniela Blessent ◽  
Mikael Philippe ◽  
Nataline Simon ◽  
...  
Keyword(s):  
Thermal Conductivity ◽  
Heat Exchanger ◽  
Fiber Optic ◽  
Thermal Response ◽  
Power Source ◽  
Temperature Sensing ◽  
Continuous Heating ◽  
Heating Cable ◽  
Conventional Test ◽  
Heat Injection

Thermal response tests are used to assess the subsurface thermal conductivity to design ground-coupled heat pump systems. Conventional tests are cumbersome and require a source of high power to heat water circulating in a pilot ground heat exchanger. An alternative test method using heating cable was verified in the field as an option to conduct this heat injection experiment with a low power source and a compact equipment. Two thermal response tests using heating cable sections and a continuous heating cable were performed in two experimental heat exchangers on different sites in Canada and France. The temperature evolution during the tests was monitored using submersible sensors and fiber optic distributed temperature sensing. Free convection that can occur in the pipe of the heat exchanger was evaluated using the Rayleigh number stability criterion. The finite and infinite line source equations were used to reproduce temperature variations along the heating cable sections and continuous heating cable, respectively. The thermal conductivity profile of each site was inferred and the uncertainly of the test was evaluated. A mean thermal conductivity 15% higher than that revealed with the conventional test was estimated with heating cable sections. The thermal conductivity evaluated using the continuous heating cable corresponds to the value estimated during the conventional test. The average uncertainly associated with the heating cable section test was 15.18%, while an uncertainty of 2.14% was estimated for the test with the continuous heating cable. According to the Rayleigh number stability criterion, significant free convection can occur during the heat injection period when heating cable sections are used. The continuous heating cable with a low power source is a promising method to perform thermal response tests and further tests could be carried out in deep boreholes to verify its applicability.

scholarly journals Ultra-Sensitive Flexible Tactile Sensor Based on Graphene Film

Micromachines ◽  
2019 ◽  
Vol 10 (11) ◽  
pp. 730 ◽  
Author(s):  
Xiaozhou Lü ◽  
Liang Qi ◽  
Hanlun Hu ◽  
Xiaoping Li ◽  
Guanghui Bai ◽  
...  
Keyword(s):  
Industrial Robot ◽  
Graphene Film ◽  
High Sensitivity ◽  
Tactile Sensor ◽  
Measurement Range ◽  
Tactile Sensors ◽  
Piezoresistive Effect ◽  
Large Measurement ◽  
Pet Film ◽  
Maximum Measurement

Flexible tactile sensor can be integrated into artificial skin and applied in industrial robot and biomedical engineering. However, the presented tactile sensors still have challenge in increasing sensitivity to expand the sensor’s application. Aiming at this problem, this paper presents an ultra-sensitive flexible tactile sensor. The sensor is based on piezoresistive effect of graphene film and is composed of upper substrate (PDMS bump with a size of 5 mm × 7 mm and a thickness of 1 mm), medial Graphene/PET film (Graphene/PET film with a size of 5 mm × 7 mm, PET with a hardness of 2H) and lower substrate (PI with fabricated electrodes). We presented the structure and reduced the principle of the sensor. We also fabricated several sample devices of the sensor and carried out experiment to test the performance. The results show that the sensor performed an ultra high sensitivity of 10.80/kPa at the range of 0–4 kPa and have a large measurement range up to 600 kPa. The sensor has 4 orders of magnitude between minimum resolution and maximum measurement range which have great advantage compared with state of the art. The sensor is expected to have great application prospect in robot and biomedical.

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