A Stretchable Capacitive Sensory Skin for Exploring Cluttered Environments

Gruebele, Alexander M.; Roberge, Jean-Philippe; Zerbe, Andrew C.; Ruotolo, Wilson; Huh, Tae Myung; Cutkosky, Mark R.

doi:10.1109/lra.2020.2969939

Cited by 11 publications

(7 citation statements)

References 30 publications

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“…[ 110 ] A. Gruebele et al fabricated stretchable and flexible capacitive robotic skin for grippers [Figure 10k] which is unaffected by humid/wet environment, long‐lasting, and highly sensitive to soft touch. [ 175 ] The sensory skin does not have any rigid components because the PCB, which converts capacitive to digital data, is mounted on the gripper itself. [ 175 ] H. S. Sonar et al presented a capacitive pressure sensory soft and low‐cost robotic skin which is fabricated using conductive fabrics and foam for pressure localization.…”

Section: Applications Of Flexible Capacitive Pressure Sensormentioning

confidence: 99%

“…[ 175 ] The sensory skin does not have any rigid components because the PCB, which converts capacitive to digital data, is mounted on the gripper itself. [ 175 ] H. S. Sonar et al presented a capacitive pressure sensory soft and low‐cost robotic skin which is fabricated using conductive fabrics and foam for pressure localization. [ 176 ] This work presents electrical and mathematical analysis performed for n × n matrix and the fabricated 1 × 5 and 5 × 5 matrix of soft deformable skin is experimentally characterized.…”

Section: Applications Of Flexible Capacitive Pressure Sensormentioning

confidence: 99%

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Recent Progress on Flexible Capacitive Pressure Sensors: From Design and Materials to Applications

Mishra

El‐Atab

Hussain

et al. 2021

Adv Materials Technologies

216

117

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For decades, the revolution in design and fabrication methodology of flexible capacitive pressure sensors using various inorganic/organic materials has significantly enhanced the field of flexible and wearable electronics with a wide range of applications in aerospace, automobiles, marine environment, robotics, healthcare, and consumer/portable electronics. Mathematical modelling, finite element simulations, and unique fabrication strategies are utilized to fabricate diverse shapes of diaphragms, shells, and cantilevers which function in normal, touch, or double touch modes, operation principles inspired from microelectromechanical systems (MEMS) based capacitive pressure sensing techniques. The capacitive pressure sensing technique detects changes in capacitance due to the deformation/deflection of a pressure sensitive mechanical element that alters the separation gap of the capacitor. Due to advancement in state‐of‐the‐art fabrication technologies, the performance and properties of capacitive pressure sensors are enhanced. In this review paper, recent progress in flexible capacitive pressure sensing techniques in terms of design, materials, and fabrication strategies is reported. The mechanics and fabrication steps of paper‐based low‐cost MEMS/flexible devices are also broadly reported. Lastly, the applications of flexible capacitive pressure sensors, challenges, and future perspectives are discussed.

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Section: Applications Of Flexible Capacitive Pressure Sensormentioning

confidence: 99%

Section: Applications Of Flexible Capacitive Pressure Sensormentioning

confidence: 99%

Recent Progress on Flexible Capacitive Pressure Sensors: From Design and Materials to Applications

Mishra

El‐Atab

Hussain

et al. 2021

Adv Materials Technologies

216

117

View full text Add to dashboard Cite

show abstract

“…A uSkin [ 50 ] could detect a force of 0.25 N, but its sensitivity was still insufficient for our purposes. Capacitive sensors [ 51 ] were also commonly used to detect force, but their structure is complex. A soft tactile sensor [ 52 ] could be expected to have a sensitivity of 0.25 N or less, but the process of manufacturing such devices is complex.…”

Section: Resultsmentioning

confidence: 99%

Relationship between Photoelasticity of Polyurethane and Dielectric Anisotropy of Diisocyanate, and Application of High-Photoelasticity Polyurethane to Tactile Sensor for Robot Hands

et al. 2020

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Eight types of polyurethane were synthesized using seven types of diisocyanate. It was found that the elasto-optical constant depends on the concentration of diisocyanate groups in a unit volume of a polymer and the magnitude of anisotropy of the dielectric constant of diisocyanate groups. It was also found that incident light scattered when bending stress was generated inside photoelastic polyurethanes. A high sensitive tactile sensor for robot hands was devised using one of the developed polyurethanes with high photoelasticity.

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“…Capacitive sensors can be designed and integrated into artificial robotic skins to measure forces applied to the robot's body [35], [36], [37]. Capacitive tactile sensors have also been designed for robot fingertips and hands [38], [39], [40], [41], [42], which can provide high resolution force sensing during object grasping and dexterous manipulation. Capacitive sensing has been used in tandem with pneumatic sensing to estimate forces and deformation in a soft robotic finger [43].…”

Section: A Capacitive Sensingmentioning

confidence: 99%

Characterizing Multidimensional Capacitive Servoing for Physical Human-Robot Interaction

Erickson¹,

Clever²,

Gangaram³

et al. 2021

Preprint

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Towards the goal of robots performing robust and intelligent physical interactions with people, it is crucial that robots are able to accurately sense the human body, follow trajectories around the body, and track human motion. This study introduces a capacitive servoing control scheme that allows a robot to sense and navigate around human limbs during close physical interactions. Capacitive servoing leverages temporal measurements from a multi-electrode capacitive sensor array mounted on a robot's end effector to estimate the relative position and orientation (pose) of a nearby human limb. Capacitive servoing then uses these human pose estimates from a datadriven pose estimator within a feedback control loop in order to maneuver the robot's end effector around the surface of a human limb. We provide a design overview of capacitive sensors for human-robot interaction and then investigate the performance and generalization of capacitive servoing through an experiment with 12 human participants. The results indicate that multidimensional capacitive servoing enables a robot's end effector to move proximally or distally along human limbs while adapting to human pose. Using a cross-validation experiment, results further show that capacitive servoing generalizes well across people with different body size.

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A Stretchable Capacitive Sensory Skin for Exploring Cluttered Environments

Cited by 11 publications

References 30 publications

Recent Progress on Flexible Capacitive Pressure Sensors: From Design and Materials to Applications

Recent Progress on Flexible Capacitive Pressure Sensors: From Design and Materials to Applications

Relationship between Photoelasticity of Polyurethane and Dielectric Anisotropy of Diisocyanate, and Application of High-Photoelasticity Polyurethane to Tactile Sensor for Robot Hands

Characterizing Multidimensional Capacitive Servoing for Physical Human-Robot Interaction

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