An Adjustable Force Sensitive Sensor with an Electromagnet for a Soft, Distributed, Digital 3-axis Skin Sensor

Holgado, Alexis C.; Lopez, Javier Alejandro Alvarez; Schmitz, Alexander; Tomo, Tito Pradhono; Somlor, Sophon; Jamone, Lorenzo; Sugano, Shigeki

doi:10.1109/iros.2018.8593757

Cited by 12 publications

(6 citation statements)

References 16 publications

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“…In previous works [29], we explained that the apparent quadratic shape of the curve is consistent with a densification area present in stress-strain curves of elastomers [34,35]. In this respect, a more linear and steeper slope would be preferable.…”

Section: Adjustability Curvessupporting

confidence: 75%

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A Multimodal, Adjustable Sensitivity, Digital 3-Axis Skin Sensor Module

Holgado

Tomo

Somlor

et al. 2020

Sensors

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This paper presents major improvements to a multimodal, adjustable sensitivity skin sensor module. It employs a geomagnetic 3-axis Hall effect sensor to measure changes in the position of a magnetic field generated by an electromagnet. The electromagnet is mounted on a flexible material, and different current values can be supplied to it, enabling adjustments to the sensitivity of the sensor during operation. Capacitive sensing has been added in this iteration of the module, with two sensing modalities: “pre-touch” detection with proximity sensing and normal force capacitive sensing. The sensor has been designed to be interconnected with other sensor modules to be able to cover large surfaces of a robot with normal and shear force sensing and object proximity detection. Furthermore, this paper introduces important size reductions of the previous sensor design, calibration results, and further analysis of other sensor characteristics.

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Section: Adjustability Curvessupporting

confidence: 75%

“…The size of the sensor module has been a matter of discussion since the first version was presented in [29]. A smaller sensor could be used in a higher spatial density mesh structure, providing higher-detail contact information.…”

Section: Sensor Footprint Reductionmentioning

confidence: 99%

A Multimodal, Adjustable Sensitivity, Digital 3-Axis Skin Sensor Module

Holgado

Tomo

Somlor

et al. 2020

Sensors

Self Cite

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“…For example, all the balance-related tasks on a humanoid robot must be fulfilled for any manipulation task because the integrity of the robot and its surroundings (including human operators) depend on it. The whole-body skin task was implemented using (19) and (20) and executed together with a balance task, a selfcollision avoidance task similar to [76], and a whole body posture task. Fig.…”

Section: Whole-body Compliance and Interaction On A Humanoid Robotmentioning

confidence: 99%

“…RoboSkin has been used to cover a Nao robot with 200 force sensors and an iCub with 2000 force sensors [16], [17]. More recently, there has been progress in upgrading Robot-Skin with 3-D magnetic force sensors [18], [19]. A useful large-scale deployment of the robot skin needs to address the efficient transmission, organization, and representation of tactile information.…”

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confidence: 99%

A Comprehensive Realization of Robot Skin: Sensors, Sensing, Control, and Applications

et al. 2019

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“…Many tactile sensors for robots are biologically inspired [4][5], where the aim is to imitate human ability to obtain tactile feedback. Among the different methods that have been applied towards realizing tactile sensors are ones that rely on resistance [6], capacitance [35], piezoelectricity [7], organic field-effect transistors (OFETs) [8], optics [9], and magnetics [10]. Most of the tactile sensors used on robots are designed for fitting onto fingertip-shaped appendages or gripper end-effectors [11][12], while others are designed to be mounted on the body of a robot [13].…”

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confidence: 99%

F-TOUCH Sensor: Concurrent Geometry Perception and Multi-Axis Force Measurement

Alomainy

Vitanov

et al. 2021

IEEE Sensors J.

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Force and tactile sensing has experienced a surge of interest over recent decades, as it conveys a range of information through physical interaction. Tactile sensors aim to obtain tactile information (including pressure, texture etc.). However, current tactile sensors have difficulties in accurately acquiring force signals with regards to magnitude and direction. This is because tactile sensors such as the GelSight sensor estimate shear forces from discrete markers embedded in a compliant sensor interface, employing image processing techniquesthe resultant force errors are sizeable. This paper presents a novel design for a force/tactile sensor, namely the F-TOUCH (Force and Tactile Optically Unified Coherent Haptics) sensor, representing an advancement on current vision-based tactile sensors. In addition to acquiring geometric features at a high spatial resolution, our sensor incorporates a number of deformable structural elements allowing us to measure translational and rotational force and torque along six axes with high accuracy. The proposed sensor contains three key components: a coated elastomer layer acting as the compliant sensing medium, spring mechanisms acting as deformable structural elements, and a camera for image capture. The camera records the deformation of the structural elements as well as the distortion of the compliant sensing medium, concurrently acquiring force and tactile information. The sensor is calibrated with the use of a commercial ATI force sensor. An experimental study shows that the F-TOUCH sensor outperforms the GelSight sensor with regard to its capabilities to sense force signals and capturing the geometry of the contacted object. Index Terms-Tactile sensing; force/torque sensor; contact sensing; vision; image processing; robotics I. INTRODUCTION orce and tactile sensing has garnered much research interest over past decades, for it admits of information gathering through direct physical contact between a sensing device and

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An Adjustable Force Sensitive Sensor with an Electromagnet for a Soft, Distributed, Digital 3-axis Skin Sensor

Cited by 12 publications

References 16 publications

A Multimodal, Adjustable Sensitivity, Digital 3-Axis Skin Sensor Module

A Multimodal, Adjustable Sensitivity, Digital 3-Axis Skin Sensor Module

A Comprehensive Realization of Robot Skin: Sensors, Sensing, Control, and Applications

F-TOUCH Sensor: Concurrent Geometry Perception and Multi-Axis Force Measurement

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