Digital tactile sensing elements communicating through conductive skin layers

Hakozaki, M.; Shinoda, Hiroyuki

doi:10.1109/robot.2002.1014314

Cited by 29 publications

(23 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The data is then put into packets and routed through a network of modules. In contrast to other projects, who design custom chips that exactly fit their tasks [49] [50], we decided to use an off-theshelf PIC32MX695F512H microcontroller. Although, we see the advantage of a custom chip regarding space and cost on higher quantities.…”

Section: Multi-modal Tactile Module -Hex-o-skinmentioning

confidence: 99%

Humanoid Multimodal Tactile-Sensing Modules

2011

View full text Add to dashboard Cite

Abstract-In this paper, we present a new generation of active Tactile Modules (HEX-O-SKIN), developed in order to approach multi-modal whole body touch sensation for humanoid robots. To better perform like human, humanoid robots need the variety of different sensory modalities in order to interact with their environment. This calls for certain robustness and fault tolerance as well as an intelligent solution to connect the different sensory modalities to the robot.Each HEX-O-SKIN is a small hexagonal PCB equipped with multiple discrete sensors for temperature, acceleration and proximity. With these sensors we emulate the human sense of temperature, vibration and light touch. Off-the-shelf sensors were utilized to speed up our development cycle, but in general we can easily extend our design with new discrete sensors, making it flexible for further exploration.A local controller on each HEX-O-SKIN pre-processes the sensor signals and actively routes data through a network of modules towards the closest PC connection. Local processing decreases the necessary network and high level processing bandwidth, while a local analogue to digital conversion and digital data transfers are less sensitive to electromagnetic interference.With an active data routing scheme, it is also possible to reroute the data around broken connections -yielding robustness throughout the global structure while minimizing wirings. To support our approach, multiple HEX-O-SKIN are embedded into a rapid prototyped elastomer skin material and redundantly connected to neighboring modules by just four ports. The wiring complexity is shifted to each HEX-O-SKIN such that a power and data connection between two modules is reduced to four non-crossing wires. Thus, only a very simple robot specific base frame is needed to support and wire the HEX-O-SKIN to a robot.The potential of our multi-modal sensor modules is demonstrated experimentally on a robot platform.Index Terms-humanoid skin, artificial sensor skin, multimodal skin, tactile sensor module, sensor network, touch controller.

show abstract

Section: Multi-modal Tactile Module -Hex-o-skinmentioning

confidence: 99%

Humanoid Multimodal Tactile-Sensing Modules

2011

View full text Add to dashboard Cite

show abstract

“…Schmitz et al have arrayed twelve capacitance-to-digital converter (CDC) chips in an array on the body of each robot finger; these provide twelve 16-bit measurements of capacitance [5]. Hakozaki et al have arrayed sensing elements on conductive rubber at regular intervals to measure three components of stress based on a capacitive method [6]. However, the key practical issues remain unresolved.…”

Section: Introductionmentioning

confidence: 99%

Acquisition of Contact Force and Slippage Using a Vision-Based Tactile Sensor with a Fluid-Type Touchpad for the Dexterous Handling of Robots

Ito¹,

Kim²,

Obinata³

2014

Adv Robot Autom

View full text Add to dashboard Cite

This paper presents a new approach for estimating contact force and slippage by using a vision-based tactile sensor with a fluid-type touchpad for the dexterous handling of robots. The sensor consists of a CCD camera, LED lights, a transparent acrylic plate and a deformable touchpad. The sensor can obtain a variety of tactile information, such as the contact force, shape, contact region, position and orientation of an object in contact with the fluid-type touchpad. The previous method for measuring contact force requires extensive calculation; this paper proposes a new method based on lookup tables for measuring normal force, tangential force and moment, using a fluid-type touchpad. Additionally, we clarify the mechanism of slippage between a fluid-type touchpad and a contacted object. This mechanism is efficient for applying the proposed slippage estimation method to a fluid-type touchpad. The validation of the proposed methods is confirmed in the experimental results.

show abstract

“…In particular, the three-axis tactile sensor that is categorized as an image based tactile sensor has attracted the greatest anticipation for improving manipulation because a robot must detect the distribution not only of normal force but also of slippage force applied to its finger surfaces (Ohka, 1995(Ohka, , 2004(Ohka, , 2005a(Ohka, , 2005b(Ohka, , 2008. In addition to our three-axis tactile sensors, there are several designs of multi-axis force cells based on such physical phenomena as magnetic effects (Hackwood et al, 1986), variations in electrical capacity (Novak, 1989;Hakozaki & Shinoda 2002), PVDF film (Yamada & Cutkosky, 1994), and a photointerrupter (Borovac et al, 1996). Our three-axis tactile sensor is based on the principle of an optical waveguide-type tactile sensor (Mott et al, 1984;Tanie et al, 1986;Nicholls et al, 1990;Kaneko et al, 1992;Maekawa et al, 1992), which is composed of an acrylic hemispherical dome, a light source, an array of rubber sensing elements, and a CCD camera (Ohka, 1995(Ohka, , 2004a(Ohka, , 2005a(Ohka, , 2005b(Ohka, , 2008.…”

Section: Introductionmentioning

confidence: 99%