A Non-Array Type Cut to Shape Soft Slip Detection Sensor Applicable to Arbitrary Surface

Abstract

The presence of a tactile sensor is essential to hold an object and manipulate it without damage. The tactile information helps determine whether an object is stably held. If a tactile sensor is installed at wherever the robot and the object touch, the robot could interact with more objects. In this paper, a skin type slip sensor that can be attached to the surface of a robot with various curvatures is presented. A simple mechanical sensor structure enables the cut and fit of the sensor according to the curvature. The sensor uses a non-array structure and can operate even if a part of the sensor is cut off. The slip was distinguished using a simple vibration signal received from the sensor. The signal is transformed into the time-frequency domain, and the slippage was determined using an artificial neural network. The accuracy of slip detection was compared using four artificial neural network models. In addition, the strengths and weaknesses of each neural network model were analyzed according to the data used for training. As a result, the developed sensor detected slip with an average of 95.73% accuracy at various curvatures and contact points.

Large‐Area Piezoresistive Tactile Sensor Developed by Training a Super‐Simple Single‐Layer Carbon Nanotube‐Dispersed Polydimethylsiloxane Pad

“…Despite the improvement of the algorithm component, the present approach is far from complete and has several restrictions in comparison with state‐of‐the‐art nonarray tactile sensing technologies. [ 50–57 ] The most conspicuous restriction is that the present approach is only applicable to the detection of vertical force (indentation). However, other types of tactile sensing would be possible if we altered the training process to fit the desired force application mode.…”

“…[ 1–20 ] In addition, pattern‐free (nonlayer) tactile sensors have been extensively investigated. [ 50–57 ]…”

“…Our approach differs from other nonarray approaches [ 50–57 ] in three key aspects. We use a super‐simple, single‐layer pad, whereas the other nonarray‐type approaches generally adopt multilayer structures, and some layers have a type of micro‐engineered structure that is not a sensory pattern array.…”

New Flexible Tactile Sensor Based on Electrical Impedance Tomography

“…Compared to the array sensor, the detection area of the non-array one is continuous, the signal processing circuit is simple and flexible. Non-array tactile sensors can also adapt to the surface by cutting some materials without damaging their own sensing function [11], they are easier to achieve large coverage and they are suitable for wrapping on large surfaces similar to robot arms, legs, and so on.…”

A Flexible Multimodal Sole Sensor for Legged Robot Sensing Complex Ground Information during Locomotion

“…In recent years, new applications demanded new features, such as mechanical flexibility and conformability, and accordingly, new designs and materials for robotic tactile sensing. Diversified flexible sensors, such as a tactile sensor array [ 14 ], three-axis force sensor [ 15 ], slip detection sensor [ 16 ], and texture surface recognition sensor [ 17 ], can help robots get environmental information. While the development of tactile sensors for robotic fingertips and hands continued, the application areas, such as motion planning in an unstructured environment, brought whole-body sensing to the fore [ 18 ].…”