A highly sensitive multimodal capacitive tactile sensor

Abstract

Abstract-As technology develops, manufacture process becomes more and more automated using robots. There is demand for high performance tactile sensor which can support robotic grippers in manipulation tasks especially for unstructured flexible objects. Despite the efforts that have been spent, the fabrication process of those functional sensor remains complicated due to their requirement of specialized materials and equipment. The proposed multimodal sensor overcomes the difficulty by enhancing the electrical and mechanical design therefore simplifying the manufacture steps. In this version, static and dynamic sensing are integrated in the same layer of capacitive sensor with direct written microstructured dielectric. This structure allows it to have large range of force sensing as well as the ability of detecting contact events such as slippage or losing of contact.

DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor With Application to In-Hand Manipulation

“…The design of tactile sensors has been an active field of research for many years [18] with a large range of technologies used for measuring forces [19], [9], [20].…”

A Latent State-Based Multimodal Execution Monitor with Anomaly Detection and Classification for Robot Introspection

“…The robot is equipped with a 6 DoF Robotiq FT sensor, 2 Baxter-standard electric pinching fingers, as well as Baxter's left-hand camera. Each finger is further equipped with a multimodal tactile sensor composed of: (i) a 4 × 7 taxel matrix that yields absolute pressure values; (ii) a dynamic sensor which provides a single capacitive reading in millivolts (mV) useful to detect tactile events; and (iii) an IMU and gyroscope [54]. Baxter's left-hand camera is placed flexibly in a region that can capture objects in the collection bin with a resolution of 1280 × 800 at 1 fps (we are optimizing pose accuracy and lower computational complexity in the system).…”

Texture roughness estimation using dynamic tactile sensing

“…The sampling frequency was set at about 59 Hz [9]. This capacitive sensor used a two layer microstructured silicone dielectric filled with nanoparticles of ferroelectric ceramic.…”

“…Human hands have a complex combination of mechanoreceptors that are not only sensitive to pressure, but also to dynamic events such as the vibration that occurs at the fingertips when we touch, for example, a surface texture. In order to better match the human tactile capabilities, some recent studies have presented multimodal tactile sensors that can be sensitive in both static and dynamic load conditions [8], [9], [10].…”