Development of whole body multisensory soft flesh with vibrotactile and deep pressure sense for humanoid close interaction

Hayashi, Mitsunori; Ishizaka, Yui; Yoshikai, Tomoaki; Inaba, Masayuki

doi:10.1109/mfi.2008.4648021

Cited by 1 publication

(1 citation statement)

References 6 publications

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“…Since soft thick exterior has enough room to embed various sensor elements in the middle of the exterior, sensors can be arranged at intended depth in the flesh as described in the basic idea of soft sensor flesh. For embedding sensor elements, we developed integral molding method for various types of sensors [17]. Required position accuracy for the sensor layout is about the same as the size of sensors and its cost is required to be low since implementation to the whole-body size flesh is considered.…”

Section: Soft Sensor Flesh With Integral Molded Sensorsmentioning

confidence: 99%

Development of Robots with Soft Sensor Flesh for Achieving Close Interaction Behavior

Yoshikai

Hayashi

Ishizaka

et al. 2012

Advances in Artificial Intelligence

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In order to achieve robots' working around humans, safe contacts against objects, humans, and environments with broad area of their body should be allowed. Furthermore, it is desirable to actively use those contacts for achieving tasks. Considering that, many practical applications will be realized by whole-body close interaction of many contacts with others. Therefore, robots are strongly expected to achieve whole-body interaction behavior with objects around them. Recently, it becomes possible to construct whole-body tactile sensor network by the advancement of research for tactile sensing system. Using such tactile sensors, some research groups have developed robots with whole-body tactile sensing exterior. However, their basic strategy is making a distributed 1-axis tactile sensor network covered with soft thin material. Those are not sufficient for achieving close interaction and detecting complicated contact changes. Therefore, we propose “Soft Sensor Flesh.” Basic idea of “Soft Sensor Flesh” is constructing robots' exterior with soft and thick foam with many sensor elements including multiaxis tactile sensors. In this paper, a constructing method for the robot systems with such soft sensor flesh is argued. Also, we develop some prototypes of soft sensor flesh and verify the feasibility of the proposed idea by actual behavior experiments.

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Section: Soft Sensor Flesh With Integral Molded Sensorsmentioning

confidence: 99%