Artificial Sensitive Skin for Robotics Based on Electrical Impedance Tomography

Li, Kai; Wu, Yang; Wang, Song; Wang, Huan; Chen, Huaijin; Yao, Jiafeng

doi:10.1002/aisy.201900161

Cited by 43 publications

(24 citation statements)

References 78 publications

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“…Similarly, the opposite pattern is characterized by good overall performance and uniform current distribution, but also poor edge sensitivity and low current injection. Compared to single-source driving, the trigonometric pattern has strengths such as sufficient center sensitivity, high current injection, and improved SNR; the weaknesses are then embodied in the more independent current drivers and considerable susceptibility to unknown contact impedance [ 17 , 36 ].…”

Section: Methodsmentioning

confidence: 99%

Measurement-Based Domain Parameter Optimization in Electrical Impedance Tomography Imaging

Dušek

Mikulka

2021

Sensors

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This paper discusses the optimization of domain parameters in electrical impedance tomography-based imaging. Precise image reconstruction requires accurate, well-correlated physical and numerical finite element method (FEM) models; thus, we employed the Nelder–Mead algorithm and a complete electrode model to evaluate the individual parameters, including the initial conductivity, electrode misplacement, and shape deformation. The optimization process was designed to calculate the parameters of the numerical model before the image reconstruction. The models were verified via simulation and experimental measurement with single source current patterns. The impact of the optimization on the above parameters was reflected in the applied image reconstruction process, where the conductivity error dropped by 6.16% and 11.58% in adjacent and opposite driving, respectively. In the shape deformation, the inhomogeneity area ratio increased by 11.0% and 48.9%; the imprecise placement of the 6th electrode was successfully optimized with adjacent driving; the conductivity error dropped by 12.69%; and the inhomogeneity localization exhibited a rise of 66.7%. The opposite driving option produces undesired duality resulting from the measurement pattern. The designed optimization process proved to be suitable for correlating the numerical and the physical models, and it also enabled us to eliminate imaging uncertainties and artifacts.

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Section: Methodsmentioning

confidence: 99%

Measurement-Based Domain Parameter Optimization in Electrical Impedance Tomography Imaging

Dušek

Mikulka

2021

Sensors

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“…Real-time 3D stress field forces acting on a flexible conductive material were analyzed using electrical resistance tomography using inversion method. This method used a simple structure with less number of electrodes to evaluate stress distribution upon applied force in flexible conductive materials (Liu et al , 2020).…”

Section: Review Of Shape Sensing Methods and Fiber Optics Based Shape Sensingmentioning

confidence: 99%

“…In the E-skin domain, authors focused on the following: the design and attributes of E-skin (Hammock et al , 2013; Dahiya et al , 2013) and materials used (Yogeswaran et al , 2015); technologies in robot E-skin printing (Wang et al , 2015; Kappassov et al , 2015; Khan and Lorenzelli, 2017); data acquisition techniques from E-skin (Zou et al , 2017; Abhang, 2018; Sappati and Bhadra, 2018); intelligent humanoid robots (Park et al , 2018; Chi et al , 2018); and ML-based humanoid robots (Li et al , 2019; Xu et al , 2019a; Shih et al , 2020), electrical impedance tomography based tactile sensors (Liu et al , 2020). …”

Section: Introductionmentioning

confidence: 99%

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Recent trends and role of large area flexible electronics in shape sensing application – a review

Shaik

Rufus

2021

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Purpose This paper aims to review the shape sensing techniques using large area flexible electronics (LAFE). Shape perception of humanoid robots using tactile data is mainly focused. Design/methodology/approach Research papers on different shape sensing methodologies of objects with large area, published in the past 15 years, are reviewed with emphasis on contact-based shape sensors. Fiber optics based shape sensing methodology is discussed for comparison purpose. Findings LAFE-based shape sensors of humanoid robots incorporating advanced computational data handling techniques such as neural networks and machine learning (ML) algorithms are observed to give results with best resolution in 3D shape reconstruction. Research limitations/implications The literature review is limited to shape sensing application either two- or three-dimensional (3D) LAFE. Optical shape sensing is briefly discussed which is widely used for small area. Optical scanners provide the best 3D shape reconstruction in the noncontact-based shape sensing; here this paper focuses only on contact-based shape sensing. Practical implications Contact-based shape sensing using polymer nanocomposites is a very economical solution as compared to optical 3D scanners. Although optical 3D scanners can provide a high resolution and fast scan of the 3D shape of the object, they require line of sight and complex image reconstruction algorithms. Using LAFE larger objects can be scanned with ML and basic electronic circuitory, which reduces the price hugely. Social implications LAFE can be used as a wearable sensor to monitor critical biological parameters. They can be used to detect shape of large body parts and aid in designing prosthetic devices. Tactile sensing in humanoid robots is accomplished by electronic skin of the robot which is a prime example of human–machine interface at workplace. Originality/value This paper reviews a unique feature of LAFE in shape sensing of large area objects. It provides insights from mechanical, electrical, hardware and software perspective in the sensor design. The most suitable approach for large object shape sensing using LAFE is also suggested.

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“…The localised sensitivity of these sensors necessitates time consuming scanning procedures to build a map for assessment. Conversely, distributed sensing typically focuses on the creation of "artificial skin" for robotics and are often not suitable for MIS due to lack of biocompatibility and large volumes when collapsed [4]. It is possible to obtain measures of elastic properties through pressure and volume curves during balloon inflation [5].…”

Section: Introductionmentioning

confidence: 99%

Tactile Sensor for Minimally Invasive Surgery Using Electrical Impedance Tomography

Avery

Shulakova

Runciman

et al. 2020

IEEE Trans. Med. Robot. Bionics

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Whilst offering numerous benefits to patients, minimally invasive surgery (MIS) has a disadvantage in the loss of tactile feedback to the surgeon, traditionally offering valuable qualitative tissue assessment, such as tumour identification and localisation. Tactile sensors aim to overcome this loss of sensation by detecting tissue characteristics such as stiffness, composition and temperature. Tactile sensors have previously been incorporated into MIS robotic end effectors, which require lengthy scanning procedures due to localised sensitivity. Distributed tactile sensors, or "artificial skin" offer a map of tissue properties in a single instance but are often not suitable for MIS applications due to limited biocompatibility or large collapsed volumes. We propose a deployable, soft, tactile sensor with a deformable saline chamber and integrated Electrical Impedance Tomography (EIT) electrodes. During contact with tissue, the saline is displaced from the chamber and the lesion size and stiffness can be inferred from the resultant impedance changes. Through optimisation of the EIT measurement protocol and hardware the sensor was capable of localising the centre of mass of palpation targets within 1.5 mm in simulation and 2.3-4.6mm in phantom experiments. Reconstructed image metrics differentiated target objects from 8-30 mm.

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Artificial Sensitive Skin for Robotics Based on Electrical Impedance Tomography

Cited by 43 publications

References 78 publications

Measurement-Based Domain Parameter Optimization in Electrical Impedance Tomography Imaging

Measurement-Based Domain Parameter Optimization in Electrical Impedance Tomography Imaging

Recent trends and role of large area flexible electronics in shape sensing application – a review

Tactile Sensor for Minimally Invasive Surgery Using Electrical Impedance Tomography

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