scholarly journals Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review

2021 ◽  
Author(s):  
Nathan Lepora
Keyword(s):  
Tactile Sensor ◽  
Step Change ◽  
Tactile Sensors ◽  
The Past ◽  
Robot Hands ◽  
Human Touch ◽  
Skin Morphology ◽  
Sense Of Touch ◽  
And Control ◽  
Human Sense

<div>Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robotic technologies will be needed, including soft robotics, biomimetics and the high-resolution sensing offered by optical tactile sensors. This combination is considered here as a SoftBOT (Soft Biomimetic Optical Tactile) sensor. This article reviews the BRL TacTip as a prototypical example of such a sensor. Topics include the relation between artificial skin morphology and the transduction principles of human touch, the nature and benefits of tactile shear sensing, 3D printing for fabrication and integration into robot hands, the application of AI to tactile perception and control, and the recent step-change in capabilities due to deep learning. This review consolidates those advances from the past decade to indicate a path for robots to reach human-like dexterity.</div><div><br></div>

scholarly journals Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review

2021 ◽  
Author(s):  
Nathan Lepora
Keyword(s):  
Tactile Sensor ◽  
Step Change ◽  
Tactile Sensors ◽  
The Past ◽  
Robot Hands ◽  
Human Touch ◽  
Skin Morphology ◽  
Sense Of Touch ◽  
And Control ◽  
Human Sense

<div>Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robotic technologies will be needed, including soft robotics, biomimetics and the high-resolution sensing offered by optical tactile sensors. This combination is considered here as a SoftBOT (Soft Biomimetic Optical Tactile) sensor. This article reviews the BRL TacTip as a prototypical example of such a sensor. Topics include the relation between artificial skin morphology and the transduction principles of human touch, the nature and benefits of tactile shear sensing, 3D printing for fabrication and integration into robot hands, the application of AI to tactile perception and control, and the recent step-change in capabilities due to deep learning. This review consolidates those advances from the past decade to indicate a path for robots to reach human-like dexterity.</div><div><br></div>

scholarly journals Design and Calibration of a Force/Tactile Sensor for Dexterous Manipulation

Sensors ◽  
2019 ◽  
Vol 19 (4) ◽  
pp. 966 ◽  
Author(s):  
Marco Costanzo ◽  
Giuseppe De Maria ◽  
Ciro Natale ◽  
Salvatore Pirozzi
Keyword(s):  
Experimental Validation ◽  
Sensory System ◽  
Tactile Sensor ◽  
Contact Forces ◽  
Dexterous Manipulation ◽  
Soft Contact ◽  
Grasping Force ◽  
Sense Of Touch ◽  
Human Sense ◽  
Robotic Applications

This paper presents the design and calibration of a new force/tactile sensor for robotic applications. The sensor is suitably designed to provide the robotic grasping device with a sensory system mimicking the human sense of touch, namely, a device sensitive to contact forces, object slip and object geometry. This type of perception information is of paramount importance not only in dexterous manipulation but even in simple grasping tasks, especially when objects are fragile, such that only a minimum amount of grasping force can be applied to hold the object without damaging it. Moreover, sensing only forces and not moments can be very limiting to securely grasp an object when it is grasped far from its center of gravity. Therefore, the perception of torsional moments is a key requirement of the designed sensor. Furthermore, the sensor is also the mechanical interface between the gripper and the manipulated object, therefore its design should consider also the requirements for a correct holding of the object. The most relevant of such requirements is the necessity to hold a torsional moment, therefore a soft distributed contact is necessary. The presence of a soft contact poses a number of challenges in the calibration of the sensor, and that is another contribution of this work. Experimental validation is provided in real grasping tasks with two sensors mounted on an industrial gripper.

scholarly journals A Vibrissa-Inspired Highly Flexible Tactile Sensor: Scanning 3D Object Surfaces Providing Tactile Images

Sensors ◽  
2021 ◽  
Vol 21 (5) ◽  
pp. 1572
Author(s):  
Lukas Merker ◽  
Joachim Steigenberger ◽  
Rafael Marangoni ◽  
Carsten Behn
Keyword(s):  
Steel Wire ◽  
Sense Organ ◽  
Tactile Sensor ◽  
Tactile Sensors ◽  
Measuring Device ◽  
3D Object ◽  
Torque Transducer ◽  
Sense Of Touch ◽  
Important Basis ◽  
Support Reactions

Just as the sense of touch complements vision in various species, several robots could benefit from advanced tactile sensors, in particular when operating under poor visibility. A prominent tactile sense organ, frequently serving as a natural paragon for developing tactile sensors, is the vibrissae of, e.g., rats. Within this study, we present a vibrissa-inspired sensor concept for 3D object scanning and reconstruction to be exemplarily used in mobile robots. The setup consists of a highly flexible rod attached to a 3D force-torque transducer (measuring device). The scanning process is realized by translationally shifting the base of the rod relative to the object. Consequently, the rod sweeps over the object’s surface, undergoing large bending deflections. Then, the support reactions at the base of the rod are evaluated for contact localization. Presenting a method of theoretically generating these support reactions, we provide an important basis for future parameter studies. During scanning, lateral slip of the rod is not actively prevented, in contrast to literature. In this way, we demonstrate the suitability of the sensor for passively dragging it on a mobile robot. Experimental scanning sweeps using an artificial vibrissa (steel wire) of length 50 mm and a glass sphere as a test object with a diameter of 60 mm verify the theoretical results and serve as a proof of concept.

Haptics: The Present and Future of Artificial Touch Sensation

2018 ◽  
Vol 1 (1) ◽  
pp. 385-409 ◽  
Author(s):  
Heather Culbertson ◽  
Samuel B. Schorr ◽  
Allison M. Okamura
Keyword(s):  
Haptic Feedback ◽  
Haptic Devices ◽  
Present Information ◽  
Touch Sensation ◽  
Haptic Technology ◽  
Feedback Modalities ◽  
Sense Of Touch ◽  
And Control ◽  
Virtual Interactions ◽  
Human Sense

This article reviews the technology behind creating artificial touch sensations and the relevant aspects of human touch. We focus on the design and control of haptic devices and discuss the best practices for generating distinct and effective touch sensations. Artificial haptic sensations can present information to users, help them complete a task, augment or replace the other senses, and add immersiveness and realism to virtual interactions. We examine these applications in the context of different haptic feedback modalities and the forms that haptic devices can take. We discuss the prior work, limitations, and design considerations of each feedback modality and individual haptic technology. We also address the need to consider the neuroscience and perception behind the human sense of touch in the design and control of haptic devices.

scholarly journals Design of a Force/Tactile Sensor for Robotic Grippers

Proceedings ◽  
2019 ◽  
Vol 15 (1) ◽  
pp. 31
Author(s):  
Marco Costanzo ◽  
Giuseppe De Maria ◽  
Ciro Natale ◽  
Salvatore Pirozzi
Keyword(s):  
Sensory System ◽  
Tactile Sensor ◽  
Contact Forces ◽  
Minimum Amount ◽  
Robotic Grasping ◽  
Dexterous Manipulation ◽  
Grasping Force ◽  
Sense Of Touch ◽  
Human Sense ◽  
Robotic Applications

This paper presents the design of a new force/tactile sensor for robotic applications. The sensor is suitably designed to provide the robotic grasping device with a sensory system mimicking the human sense of touch, namely, a device sensitive to contact forces, object slip and object geometry. This type of perception information is of paramount importance not only in dexterous manipulation but even in simple grasping task, especially when objects are fragile and deformable, such that only a minimum amount of grasping force can be applied to hold the object without damaging it.

Robot Soft Grabbing with New Piezoresistive Tactile Sensor

2013 ◽  
Vol 744 ◽  
pp. 501-504 ◽  
Author(s):  
Jin Jun Chen ◽  
Ting Xiang
Keyword(s):  
Control Algorithm ◽  
Statistical Parameter ◽  
Control Program ◽  
Tactile Sensor ◽  
Visible Range ◽  
Human Hand ◽  
Active Perception ◽  
Tactile Sensors ◽  
Technology Application ◽  
And Control

A type of tactile sensors based on piezoresistive principle is designed for the robot grab force detection and control. According to human behaves and awareness, the robot grabbing control program imitate human hand grasp active perception and action mechanisms. With the tactile sensors, the slip and grasping process pressure signal is sampled and analysed by general time-domain statistical parameter, and a simpler control algorithm is researched. In the experiment the robot has accomplished soft grabbing by modeling human hand action and applied appropriate grabbing force on objects of different weights or material by means of the control algorithm. Experiments suggest that this sensor and action biomimetic process is suitable to be used in the tele-presence technology application in the case of the visible range or visual equipment aid especially.

scholarly journals A Tent Map BasedA/DConversion Circuit for Robot Tactile Sensor

2013 ◽  
Vol 2013 ◽  
pp. 1-5
Author(s):  
Jianxin Liu ◽  
Xuan Zhang ◽  
Zhiming Li ◽  
Xuling Li
Keyword(s):  
Large Range ◽  
Tactile Sensor ◽  
High Accuracy ◽  
Small Signal ◽  
Tactile Sensors ◽  
Tent Map ◽  
Robot Perception ◽  
Multipath Signal ◽  
And Control ◽  
Parallel Sampling

Force and tactile sensors are basic elements for robot perception and control, which call for large range and high-accuracy amplifier. In this paper, a novelA/Dconversion circuit for array tactile sensor is proposed by using nonlinear tent map phenomenon, which is characterized by sensitivity to small signal and nonlinear amplifying function. The tent map basedA/Dconversion circuits can simultaneously realize amplifying andA/Dconverting functions. The proposed circuit is not only simple but also easy to integrate and produce. It is very suited for multipath signal parallel sampling andA/Dconverting of large array tactile sensor.

Skin-inspired quadruple tactile sensors integrated on a robot hand enable object recognition

2020 ◽  
Vol 5 (49) ◽  
pp. eabc8134
Author(s):  
Guozhen Li ◽  
Shiqiang Liu ◽  
Liangqi Wang ◽  
Rong Zhu
Keyword(s):  
Object Recognition ◽  
Tactile Sensor ◽  
Object Identification ◽  
Robot Hand ◽  
Tactile Sensors ◽  
Object Temperature ◽  
Environment Temperature ◽  
Robot Hands ◽  
Different Shapes ◽  
Material Measure

Robot hands with tactile perception can improve the safety of object manipulation and also improve the accuracy of object identification. Here, we report the integration of quadruple tactile sensors onto a robot hand to enable precise object recognition through grasping. Our quadruple tactile sensor consists of a skin-inspired multilayer microstructure. It works as thermoreceptor with the ability to perceive thermal conductivity of a material, measure contact pressure, as well as sense object temperature and environment temperature simultaneously and independently. By combining tactile sensing information and machine learning, our smart hand has the capability to precisely recognize different shapes, sizes, and materials in a diverse set of objects. We further apply our smart hand to the task of garbage sorting and demonstrate a classification accuracy of 94% in recognizing seven types of garbage.

scholarly journals Soft Magnetic Powdery Sensor for Tactile Sensing

Sensors ◽  
2019 ◽  
Vol 19 (12) ◽  
pp. 2677 ◽  
Author(s):  
Shunsuke Nagahama ◽  
Kayo Migita ◽  
Shigeki Sugano
Keyword(s):  
Magnetic Field ◽  
Flexible Electronics ◽  
Tactile Sensor ◽  
Contact Forces ◽  
Tactile Sensors ◽  
Soft Magnetic ◽  
Initial State ◽  
Response Characteristics ◽  
Flexible Material ◽  
Robot Hands

Soft resistive tactile sensors are versatile devices with applications in next-generation flexible electronics. We developed a novel type of soft resistive tactile sensor called a soft magnetic powdery sensor (soft-MPS) and evaluated its response characteristics. The soft-MPS comprises ferromagnetic powder that is immobilized in a liquid resin such as polydimethylsiloxane (PDMS) after orienting in a magnetic field. On applying an external force to the sensor, the relative distance between particles changes, thereby affecting its resistance. Since the ferromagnetic powders are in contact from the initial state, they have the ability to detect small contact forces compared to conventional resistive sensors in which the conductive powder is dispersed in a flexible material. The sensor unit can be made in any shape by controlling the layout of the magnetic field. Soft-MPSs with different hardnesses that could detect small forces were fabricated. The soft-MPS could be applied to detect collisions in robot hands/arms or in ultra-sensitive touchscreen devices.

On-Surface Radical Oligomerisation: A New Approach to STM Tip-Induced Reactions

2018 ◽  
Author(s):  
Gaolei Zhan ◽  
Younes Makoudi ◽  
Judicael Jeannoutot ◽  
Simon Lamare ◽  
Michel Féron ◽  
...  
Keyword(s):  
Sample Surface ◽  
Scanning Tunnelling Microscope ◽  
Transfer Event ◽  
New Approach ◽  
The Past ◽  
Organic Nanostructures ◽  
Scanning Tunnelling ◽  
New Strategy ◽  
Surface Fabrication ◽  
And Control

Over the past decade, on-surface fabrication of organic nanostructures has been widely investigated for the development of molecular electronic devices, nanomachines, and new materials. Here, we introduce a new strategy to obtain alkyl oligomers in a controlled manner using on-surface radical oligomerisations that are triggered by the electrons/holes between the sample surface and the tip of a scanning tunnelling microscope. The resulting radical-mediated mechanism is substantiated by a detailed theoretical study. This electron transfer event only occurs when <i>V</i><sub>s</sub> < -3 V or <i>V</i><sub>s</sub> > + 3 V and allows access to reactive radical species under exceptionally mild conditions. This transfer can effectively ‘switch on’ a sequence leading to formation of oligomers of defined size distribution due to the on-surface confinement of reactive species. Our approach enables new ways to initiate and control radical oligomerisations with tunnelling electrons, leading to molecularly precise nanofabrication.

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