Detachable tactile sensor skin module for robotic applications

Lee, An Yong; Kim, Doik

doi:10.1109/urai.2013.6677369

Cited by 2 publications

(1 citation statement)

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“…Single axis sensor skins have been proposed and achieved through a variety of methods. Conductive and piezoelectric materials arranged in a lattice structure allow for the location of the normal force to be estimated [2], [3]. Optical sensors covered in polyurethane rubber (PUR) allow for quick and wire free installation of a sensor skin [4].…”

Section: Introductionmentioning

confidence: 99%

Angled sensor configuration capable of measuring tri-axial forces for pHRI

Reeks

Carmichael

Liu

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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This paper presents a new configuration for single axis tactile sensor arrays molded in rubber to enable tri-axial force measurement. The configuration requires the sensing axis of each sensor in the array to be rotated out of alignment with respect to external forces. This angled sensor array measures shear forces along axes in a way that is different to a planar sensor array. Three sensors using the angled configuration (22.5°, 45° and 67.5°) and a fourth sensor using the planar configuration (0°) have been fabricated for experimental comparison. Artificial neural networks were trained to interpret the external force applied along each axis (X, Y and Z) from raw pressure sensor values. The results show that the angled sensor configuration is capable of measuring tri-axial external forces with a root mean squared error of 1.79N, less error in comparison to the equivalent sensor utilizing the planar configuration (4.52N). The sensors are then implemented to control a robotic arm. Preliminary findings show angled sensor arrays to be a viable alternative to planar sensor arrays for shear force measurement; this has wide applications in physical Human Robot Interaction (pHRI).

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Section: Introductionmentioning

confidence: 99%