A highly stretchable tactile distribution sensor for smooth surfaced humanoids

Alirezaei, Hassan; Nagakubo, Akihiko; Kuniyoshi, Yasuo

doi:10.1109/ichr.2007.4813864

Cited by 66 publications

(38 citation statements)

References 5 publications

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“…The forward model is obtained from the Maxwell's equation and from a Finite Element Method (FEM) model of the sensor's body (see [30] for more details): (1) is the resistance distribution and c the injected current.…”

Section: B Image Reconstruction With Newton's Iterative Methodsmentioning

confidence: 99%

Electronic hardware design of a low cost tactile sensor device for physical human-robot interactions

Pugach

Khomenko

Melnyk

et al. 2013

2013 IEEE XXXIII International Scientific Conference Electronics and Nanotechnology (ELNANO)

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Section: B Image Reconstruction With Newton's Iterative Methodsmentioning

confidence: 99%

Electronic hardware design of a low cost tactile sensor device for physical human-robot interactions

Pugach

Khomenko

Melnyk

et al. 2013

2013 IEEE XXXIII International Scientific Conference Electronics and Nanotechnology (ELNANO)

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“…Electrical impedance tomography (EIT) [14] will be employed to reconstruct the resistivity distribution from information obtained by electrodes placed around the region.…”

Section: Methodsmentioning

confidence: 99%

A New Principle of Adaptive Compliant Gripper

Petković

Pavlović

2011

Mechanisms, Transmissions and Applications

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Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shapes and surfaces is a very challenging task. This paper presents an approach of the new principle of a universal gripper with adaptable shape morphing surfaces. The adaptive surfaces will have the controllability by a compliant system with embedded actuators and sensors. The main sensing system has to be made of a conductive silicone rubber or foam. These are carbon-black filled silicone materials with good sensing properties whose electrical resistance is changed by compression. The implemented controllable system will be able to morph shapes of the gripper to accommodate different objects. A methodology for design of the compliant adaptive gripper will be presented. The main advantage of this compliant gripper is the connection of controllability and observability in one system by a compliant mechanism.

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“…Such sensors also operate by continuously supplying electrostatic charge and measuring the electrostatic induction induced by surface pressure [8]. Other recent efforts include resistive sensors composed of elastomer embedded with conductive microparticle filler [9], [10], [11] and ionic liquid [12].…”

Section: Introductionmentioning

confidence: 99%

Wearable tactile keypad with stretchable artificial skin

Kramer

Majidi

Wood

2011

2011 IEEE International Conference on Robotics and Automation

131

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Abstract-A hyperelastic, thin, transparent pressure sensitive keypad is fabricated by embedding a silicone rubber film with conductive liquid-filled microchannels. Applying pressure to the surface of the elastomer deforms the cross-section of underlying microchannels and changes the electrical resistance across the affected channels. Perpendicular conductive channels form a quasi-planar network within an elastomeric matrix that registers the location, intensity and duration of applied pressure. Pressing channel intersections of the keypad triggers one of twelve keys, allowing the user to write any combination of alphabetic letters. A 5% change in channel output voltage must be achieved to trigger a key. It is found that approximately 100 kPa of pressure is necessary to produce a 5% change in voltage across a conductive microchannel that is 20 microns in height and 200 microns in width. Sensitivity of the keypad is tunable via channel geometry and choice of elastomeric material.

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A highly stretchable tactile distribution sensor for smooth surfaced humanoids

Cited by 66 publications

References 5 publications

Electronic hardware design of a low cost tactile sensor device for physical human-robot interactions

Electronic hardware design of a low cost tactile sensor device for physical human-robot interactions

A New Principle of Adaptive Compliant Gripper

Wearable tactile keypad with stretchable artificial skin

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