scholarly journals Tactile Slippage Analysis in Optical Three-Axis Tactile Sensor for Robotic Hand

2013 ◽  
Vol 465-466 ◽  
pp. 1375-1379
Author(s):  
Hanafiah Yussof ◽  
Zahari Nur Ismarrubie ◽  
Ahmad Khushairy Makhtar ◽  
Masahiro Ohka ◽  
Siti Nora Basir
Keyword(s):  
Control Algorithm ◽  
Tactile Sensor ◽  
Robotic Hand ◽  
Robot Hand ◽  
Robot Arm ◽  
Tactile Sensors ◽  
Shear Forces ◽  
Improve Performance ◽  
Robot Arm Control ◽  
Two Phases

This paper presents experimental results of object handling motions to evaluate tactile slippage sensation in a multi fingered robot arm with optical three-axis tactile sensors installed on its two hands. The optical three-axis tactile sensor is a type of tactile sensor capable of defining normal and shear forces simultaneously. Shear force distribution is used to define slippage sensation in the robot hand system. Based on tactile slippage analysis, a new control algorithm was proposed. To improve performance during object handling motions, analysis of slippage direction is conducted. The control algorithm is classified into two phases: grasp-move-release and grasp-twist motions. Detailed explanations of the control algorithm based on the existing robot arm control system are presented. The experiment is conducted using a bottle cap, and the results reveal good performance of the proposed control algorithm to accomplish the proposed object handling motions.

STAND-UP MOTION SUPPORT BY A MOBILE MANIPULATOR SYSTEM WITH HIGH SPEED TACTILE SENSORS

2011 ◽  
Vol 08 (03) ◽  
pp. 181-195
Author(s):  
ZHAOXIAN XIE ◽  
HISASHI YAMAGUCHI ◽  
MASAHITO TSUKANO ◽  
AIGUO MING ◽  
MAKOTO SHIMOJO
Keyword(s):  
Fuzzy Logic ◽  
Feedback Control ◽  
Experimental Verification ◽  
High Speed ◽  
Center Of Pressure ◽  
Tactile Sensor ◽  
Mobile Manipulator ◽  
Tactile Sensing ◽  
Robot Arm ◽  
Tactile Sensors

As one of the home services by a mobile manipulator system, we are aiming at the realization of the stand-up motion support for elderly people. This work is charaterized by the use of real-time feedback control based on the information from high speed tactile sensors for detecting the contact force as well as its center of pressure between the assisted human and the robot arm. First, this paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system. Moreover, several fundamental tactile sensing-based motion controllers necessary for the stand-up motion support and their experimental verification are presented. Finally, an assist trajectory generation method for the stand-up motion support by integrating fuzzy logic with tactile sensing is proposed and demonstrated experimentally.

scholarly journals Development of Fully Flexible Tactile Pressure Sensor with Bilayer Interlaced Bumps for Robotic Grasping Applications

Micromachines ◽  
2020 ◽  
Vol 11 (8) ◽  
pp. 770
Author(s):  
Lingfeng Zhu ◽  
Yancheng Wang ◽  
Deqing Mei ◽  
Chengpeng Jiang
Keyword(s):  
Pressure Sensor ◽  
Tactile Sensor ◽  
External Pressure ◽  
Robotic Hand ◽  
Sensing Element ◽  
Tactile Sensors ◽  
Human Machine Interaction ◽  
Tactile Information ◽  
Sensing Range ◽  
Intelligent Robotics

Flexible tactile sensors have been utilized in intelligent robotics for human-machine interaction and healthcare monitoring. The relatively low flexibility, unbalanced sensitivity and sensing range of the tactile sensors are hindering the accurate tactile information perception during robotic hand grasping of different objects. This paper developed a fully flexible tactile pressure sensor, using the flexible graphene and silver composites as the sensing element and stretchable electrodes, respectively. As for the structural design of the tactile sensor, the proposed bilayer interlaced bumps can be used to convert external pressure into the stretching of graphene composites. The fabricated tactile sensor exhibits a high sensing performance, including relatively high sensitivity (up to 3.40% kPa−1), wide sensing range (200 kPa), good dynamic response, and considerable repeatability. Then, the tactile sensor has been integrated with the robotic hand finger, and the grasping results have indicated the capability of using the tactile sensor to detect the distributed pressure during grasping applications. The grasping motions, properties of the objects can be further analyzed through the acquired tactile information in time and spatial domains, demonstrating the potential applications of the tactile sensor in intelligent robotics and human-machine interfaces.

scholarly journals Development of a flexible and stretchable tactile sensor array with two different structures for robotic hand application

RSC Advances ◽  
2017 ◽  
Vol 7 (76) ◽  
pp. 48461-48465 ◽  
Author(s):  
Xiaozhi Wang ◽  
Tianbai Xu ◽  
Shurong Dong ◽  
Shijian Li ◽  
Liyang Yu ◽  
...  
Keyword(s):  
Sensor Array ◽  
Tactile Sensor ◽  
Robotic Hand ◽  
Robot Hand ◽  
Sensors Array ◽  
Tactile Sensor Array

A flexible capacitance sensors array for robot hand application which could be used for objects distinction.

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 Magnetic-based Soft Tactile Sensors with Deformable Continuous Force Transfer Medium for Resolving Contact Locations in Robotic Grasping and Manipulation

Sensors ◽  
2019 ◽  
Vol 19 (22) ◽  
pp. 4925 ◽  
Author(s):  
Alireza Mohammadi ◽  
Yangmengfei Xu ◽  
Ying Tan ◽  
Peter Choong ◽  
Denny Oetomo
Keyword(s):  
Contact Force ◽  
Learning Algorithm ◽  
Design Procedure ◽  
Tactile Sensor ◽  
Design Parameters ◽  
Robotic Hand ◽  
Tactile Sensors ◽  
Hall Effect Sensor ◽  
Grasping And Manipulation ◽  
Sensor Configuration

The resolution of contact location is important in many applications in robotics and automation. This is generally done by using an array of contact or tactile receptors, which increases cost and complexity as the required resolution or area is increased. Tactile sensors have also been developed using a continuous deformable medium between the contact and the receptors, which allows few receptors to interpolate the information among them, avoiding the weakness highlighted in the former approach. The latter is generally used to measure contact force intensity or magnitude but rarely used to identify the contact locations. This paper presents a systematic design and characterisation procedure for magnetic-based soft tactile sensors (utilizing the latter approach with the deformable contact medium) with the goal of locating the contact force location. This systematic procedure provides conditions under which design parameters can be selected, supported by a selected machine learning algorithm, to achieve the desired performance of the tactile sensor in identifying the contact location. An illustrative example, which combines a particular sensor configuration (magnetic hall effect sensor as the receptor, a selected continuous medium and a selected sensing resolution) and a specific data-driven algorithm, is used to illustrate the proposed design procedure. The results of the illustrative example design demonstrates the efficacy of the proposed design procedure and the proposed sensing strategy in identifying a contact location. The resulting sensor is also tested on a robotic hand (Allegro Hand, SimLab Co) to demonstrate its application in real-world scenarios.

scholarly journals Evaluation of Circle Diameter by Distributed Tactile Information in Active Tracing

2013 ◽  
Vol 2013 ◽  
pp. 1-7 ◽  
Author(s):  
Hiroyuki Nakamoto ◽  
Futoshi Kobayashi ◽  
Fumio Kojima
Keyword(s):  
Voluntary Movement ◽  
Synthesis Method ◽  
Tactile Sensor ◽  
Active Touch ◽  
Robotic Hand ◽  
Tactile Sensors ◽  
Robotic Hands ◽  
Tactile Information ◽  
Sensor Model ◽  
Circle Diameter

Active touch with voluntary movement on the surface of an object is important for human to obtain the local and detailed features on it. In addition, the active touch is considered to enhance the human spatial resolution. In order to improve dexterity performance of multifinger robotic hands, it is necessary to study an active touch method for robotic hands. In this paper, first, we define four requirements of a tactile sensor for active touch and design a distributed tactile sensor model, which can measure a distribution of compressive deformation. Second, we suggest a measurement process with the sensor model, a synthesis method of distributed deformations. In the experiments, a five-finger robotic hand with tactile sensors traces on the surface of cylindrical objects and evaluates the diameters. We confirm that the hand can obtain more information of the diameters by tracing the finger.

scholarly journals Fully 3D Printed Flexible, Conformal and Multi-directional Tactile Sensor with Integrated Biomimetic and Auxetic Structure

2021 ◽  
Author(s):  
Yuyang Wei ◽  
Bingqian Li ◽  
Marco Domingos ◽  
Yiming Zhu ◽  
Lingyun Yan ◽  
...  
Keyword(s):  
Lumbar Vertebra ◽  
Tactile Sensor ◽  
Tactile Feedback ◽  
Robotic Hand ◽  
Tactile Sensors ◽  
Current Sensing ◽  
Sensing Range ◽  
Sensing Technology ◽  
3D Printed ◽  
Auxetic Structure

Abstract Tactile sensors are instrumental for developing the next generation of biologically inspired robotic prostheses with tactile feedback. Despite significant advancements made in current sensing technology, several limitations still exist including the reduced sensing sensitivity under high pressure, lack of compliance of the planar sensor with working surfaces and the demand for sophisticated manufacturing processes. In this study, we investigate the feasibility of using the 3D printing technology for the rapid and simple fabrication of a new conformal tactile sensor with an improved linear sensing range. The auxetic structure is integrated with a biomimetic inter-locked papilla feature which allows to detect multi-directional stimuli. Using the proposed design, the linear sensing range is extended to 0.5MPa and responsive to normal and shear forces with the sensitivities of 2.42KPa^(-1)and 2.20N^(-1) respectively. The proposed tactile sensor was printed on the fingertip of a prosthetic robotic hand to perform the sensorimotor control, or on the proximal femur head and lumbar vertebra for monitoring the bone-on-bone load. The results have shown promising application prospects of the proposed tactile sensor.

scholarly journals A Soft Tactile Sensor Based on Magnetics and Hybrid Flexible-Rigid Electronics

Sensors ◽  
2021 ◽  
Vol 21 (15) ◽  
pp. 5098
Author(s):  
Miguel Neto ◽  
Pedro Ribeiro ◽  
Ricardo Nunes ◽  
Lorenzo Jamone ◽  
Alexandre Bernardino ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Spin Valve ◽  
Tactile Sensor ◽  
Contact Forces ◽  
Robotic Hand ◽  
Electronic Components ◽  
Tactile Sensors ◽  
Robotic Hands ◽  
Custom Made ◽  
Comsol Simulation

Tactile sensing is crucial for robots to manipulate objects successfully. However, integrating tactile sensors into robotic hands is still challenging, mainly due to the need to cover small multi-curved surfaces with several components that must be miniaturized. In this paper, we report the design of a novel magnetic-based tactile sensor to be integrated into the robotic hand of the humanoid robot Vizzy. We designed and fabricated a flexible 4 × 2 matrix of Si chips of magnetoresistive spin valve sensors that, coupled with a single small magnet, can measure contact forces from 0.1 to 5 N on multiple locations over the surface of a robotic fingertip; this design is innovative with respect to previous works in the literature, and it is made possible by careful engineering and miniaturization of the custom-made electronic components that we employ. In addition, we characterize the behavior of the sensor through a COMSOL simulation, which can be used to generate optimized designs for sensors with different geometries.

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 High-Speed Tactile Sensing for Array-Type Tactile Sensor and Object Manipulation Based on Tactile Information

2011 ◽  
Vol 2011 ◽  
pp. 1-9 ◽  
Author(s):  
Wataru Fukui ◽  
Futoshi Kobayashi ◽  
Fumio Kojima ◽  
Hiroyuki Nakamoto ◽  
Nobuaki Imamura ◽  
...  
Keyword(s):  
High Resolution ◽  
High Speed ◽  
Tactile Sensor ◽  
Robotic Hand ◽  
Robot Hand ◽  
Dexterous Manipulation ◽  
Tactile Information ◽  
Array Type ◽  
Measurement Cycle ◽  
Very High

We have developed a universal robot hand with tactile and other sensors. An array-type tactile sensor is crucial for dexterous manipulation of objects using a robotic hand, since this sensor can measure the pressure distribution on finger pads. The sensor has a very high resolution, and the shape of a grasped object can be classified by using this sensor. The more the number of measurement points provided, the higher the accuracy of the classification, but with a corresponding lengthening of the measurement cycle. In this paper, the problem of slow response time is resolved by using software for an array-type tactile sensor with high resolution that emulates the human sensor system. The validity of the proposed method is demonstrated through experiments.

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