An integrated miniature fingertip sensor

Dario, P.; Lazzarini, R.; Magni, R.; Oh, Sang-Rok

doi:10.1109/mhs.1996.563407

Cited by 19 publications

(7 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…An older example of sensorized robotic fingertip featuring force sensors and a dynamic piezoelectric sensor is described in [73]. Here, a ceramic bimorph element was added to a piezoresistive array structure to sense microvibrations produced by slip.…”

Section: A Piezoelectricity and Acoustic Signalsmentioning

confidence: 99%

Methods and Sensors for Slip Detection in Robotics: A Survey

Romeo

Zollo

2020

IEEE Access

View full text Add to dashboard Cite

The perception of slip is one of the distinctive abilities of human tactile sensing. The sense of touch allows recognizing a wide set of properties of a grasped object, such as shape, weight and dimension. Based on such properties, the applied force can be accordingly regulated avoiding slip of the grasped object. Despite the great importance of tactile sensing for humans, mechatronic hands (robotic manipulators, prosthetic hands etc.) are rarely endowed with tactile feedback. The necessity to grasp objects relying on robust slip prevention algorithms is not yet corresponded in existing artificial manipulators, which are relegated to structured environments then. Numerous approaches regarding the problem of slip detection and correction have been developed especially in the last decade, resorting to a number of sensor typologies. However, no impact on the industrial market has been achieved. This paper reviews the sensors and methods so far proposed for slip prevention in artificial tactile perception, starting from more classical techniques until the latest solutions tested on robotic systems. The strengths and weaknesses of each described technique are discussed, also in relation to the sensing technologies employed. The result is a summary exploring the whole state of art and providing a perspective towards the future research directions in the sector.

show abstract

Section: A Piezoelectricity and Acoustic Signalsmentioning

confidence: 99%

Methods and Sensors for Slip Detection in Robotics: A Survey

Romeo

Zollo

2020

IEEE Access

View full text Add to dashboard Cite

show abstract

“…Depending on the voltage, corrective grip force is given for slippage control. Tactile sensors have been used in detecting slippage for a long time in robotic manipulators [6] . Tactile sensing has always been the closest replication to the sensing done by the human skin.…”

Section: Problem Statementmentioning

confidence: 99%

Slippage control for a smart prosthetic hand prototype via modified tactile sensory feedback

Sriram

Jensen

Chiu

2014

IEEE International Conference on Electro/Information Technology

View full text Add to dashboard Cite

The human hand is one of the most complex structures of the human body, having the fingers that possess one of the highest numbers of nerve endings in the body. The hand, with its nerve endings has the capacity for the richest tactile feedback with excellent positioning capabilities.The existing hand control methods used in controlling smart prostheses have many drawbacks and need improvements. This paper proposes a new technique of controlling slippage, which is one of the major drawbacks for a prosthetic hand. A fuzzy logic control algorithm with multiple rules is designed along with a modified tactile sensory system for feedback. The slippage control acts as a complementary control system to the EMG or EEG based position control.A 5 Degrees of Freedom (DOF) hand was used which has one micro servo motor as actuator for each finger. A force sensing resistor is modified and used as a slippage sensor. First we use a reference EMG signal for getting the 5 DOF hand to grip an object, using position control. Then a slip is induced and we see the slippage control strategies work to hold the grasp. The results based on the plain sensory system and the modified system are discussed. Finally the advantages of the entire slippage control system are highlighted.

show abstract

“…(4) Pressure sensitive materials: This method is based on the detection of rapid electrical property change of pressure sensitive materials induced by pressure distribution change due to slip. The following pressure sensitive materials are used: a pressure-sensitive rubber [ 6 , 7 , 8 , 9 ], a piezoresistive material [ 10 , 11 ], piezoelectric materials such as PZT (lead zirconate titanate) [ 12 ] and PVDF (polyvinylidene fluoride) [ 13 , 14 , 15 ]. This method has milli-seconds-order high response speed, thus being superior in detecting incipient slip.…”

Section: Introductionmentioning

confidence: 99%

Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter

Morita

Nogami

Higurashi

et al. 2018

Sensors

View full text Add to dashboard Cite

The purpose of this paper is to show the feasibility of grasping force control by feeding back signals of the developed micro-laser Doppler velocimeter (μ-LDV) and by discriminating whether a grasped object is slipping or not. LDV is well known as a high response surface velocity sensor which can measure various surfaces—such as metal, paper, film, and so on—thus suggesting the potential application of LDV as a slip sensor for grasping various objects. However, the use of LDV as a slip sensor has not yet been reported because the size of LDVs is too large to be installed on a robotic fingertip. We have solved the size problem and enabled the performance of a feasibility test with a few-millimeter-scale LDV referred to as micro-LDV (μ-LDV) by modifying the design which was adopted from MEMS (microelectromechanical systems) fabrication process. In this paper, by applying our developed μ-LDV as a slip sensor, we have successfully demonstrated grasping force control with three target objects—aluminum block, wood block, and white acrylic block—considering that various objects made of these materials can be found in homes and factories, without grasping force feedback. We provide proofs that LDV is a new promising candidate slip sensor for grasping force control to execute target grasping.

show abstract

An integrated miniature fingertip sensor

Cited by 19 publications

References 7 publications

Methods and Sensors for Slip Detection in Robotics: A Survey

Methods and Sensors for Slip Detection in Robotics: A Survey

Slippage control for a smart prosthetic hand prototype via modified tactile sensory feedback

Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter

Contact Info

Product

Resources

About