Enhancement of Manipulator Interactivity through Compliant Skin and Extended Kalman Filtering

Rajruangrabin, Jartuwat; Popa, Dan O.

doi:10.1109/coase.2007.4341719

Cited by 10 publications

(6 citation statements)

References 15 publications

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“…The standard set of equations provided by the software has been modified to include non-default constitutive Eq. (23). A structured mesh with 2400 rectangular elements featuring Lagrange shape functions with order two is used.…”

Section: Case Study and Resultsmentioning

confidence: 99%

SUAS: A Novel Soft Underwater Artificial Skin with Capacitive Transducers and Hyperelastic Membrane

Muscolo

Moretti²,

Cannata³

2018

Robotica

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The paper presents physical modeling, design, simulations, and experimentation on a novel Soft Underwater Artificial Skin (SUAS) used as tactile sensor. The SUAS functions as an electrostatic capacitive sensor, and it is composed of a hyperelastic membrane used as external cover and oil inside it used to compensate the marine pressure. Simulation has been performed studying and modeling the behavior of the external interface of the SUAS in contact with external concentrated loads in marine environment. Experiments on the external and internal components of the SUAS have been done using two different conductive layers in oil. A first prototype has been realized using a 3D printer. The results of the paper underline how the soft materials permit better adhesion of the conductive layer to the transducers of the SUAS obtaining higher capacitance. The results here presented confirmed the first hypotheses presented in a last work and opened new ways in the large-scale underwater tactile sensor design and development. The investigations are performed in collaboration with a national Italian project named MARIS, regarding the possible extension to the underwater field of the technologies developed within the European project ROBOSKIN.

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Section: Case Study and Resultsmentioning

confidence: 99%

SUAS: A Novel Soft Underwater Artificial Skin with Capacitive Transducers and Hyperelastic Membrane

Muscolo

Moretti²,

Cannata³

2018

Robotica

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“…Robots equipped with sensory skins for real time feedback are not only safer for humans, but they can also perform tasks more efficiently and successfully in unstructured and dynamically changing environments. Tactile data can be used in closed-loop feedback to implement human-guided behavior learning [1], improve safety [2], interpret human intent [3], or ensure operation in cluttered environments [4]. Useful sensory information for sensitive robotic skins include pressure, tapping, temperature, and proximity; however, the integration of different types of sensors into robotic skin is impractical due to conflicting sensing modalities, as well as incompatible materials and fabrication processes.…”

Section: Pressure Sensors For Robotic Skinsmentioning

confidence: 99%

EHD printing of PEDOT: PSS inks for fabricating pressure and strain sensor arrays on flexible substrates

et al. 2015

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Robotic skins with multi-modal sensors are necessary to facilitate better human-robotic interaction in non-structured environments. Integration of various sensors, especially onto substrates with non-uniform topographies, is challenging using standard semiconductor fabrication techniques. Printing is seen as a technology with great promise that can be used for sensor fabrication and integration as it may allow direct printing of different sensors onto the same substrate regardless of topology. In this work, we investigate Electro-Hydro-Dynamic (EHD) printing, a method that allows printing of micron-sized features with a wide range of materials, for fabricating pressure sensor arrays using Poly(3,4-ethylenedioxythiophene):Polystyrene Sulfonate (PEDOT:PSS). Fabrication of such sensors has been achieved by prepatterning gold or platinum metallized interdigitated comb electrode arrays on a polyimide substrate, with three custom made PEDOT:PSS based inks printed directly onto the electrode arrays. These three inks include a formulation of PEDOT:PSS and NMP; PEDOT:PSS, PVP, and NMP; and PEDOT:PSS, PVP, Nafion, and NMP. All these inks were successfully printed onto sensor elements. The initial results of bending-induced strain tests on the fabricated sensors display that all the inks are sensitive to strain. This confirms their suitability for pressure and strain sensor applications; however, the behavior of each ink; including sensitivity, linearity, and stability; is unique to the type.

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“…It has been reported that the robot's ability to detect exterior forces can improve the communication with humans and the environment, increase the safety and facilitate the human guided behavior learning [1] [2]. This research will one-day lead to a robust and dependable human-robot interaction that is adaptable to both different users and tasks.…”

Section: Introductionmentioning

confidence: 99%

Piezoresistive pressure sensor array for robotic skin

Mirza¹,

Sahasrabuddhe²,

Baptist³

et al. 2016

Sensors for Next-Generation Robotics III

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Robots are starting to transition from the confines of the manufacturing floor to homes, schools, hospitals, and highly dynamic environments. As, a result, it is impossible to foresee all the probable operational situations of robots, and preprogram the robot behavior in those situations. Among human-robot interaction technologies, tactile sensing is an intuitive physical interaction method that can help define operational behaviors for robots cooperating with humans. Multimodal robotic skin with distributed sensors can help robots to increase their perception capabilities according to the surrounding environments.Electro-Hydro-Dynamic (EHD) printing is a flexible multi-modal sensor fabrication method because of its direct printing capability of a wide range of materials onto substrates with non-uniform topographies. In past work we designed interdigitated comb electrodes as a sensing element and printed piezoresistive strain sensors using customized EHD printable PEDOT:PSS based inks. We formulated a PEDOT:PSS derivative ink, by mixing PEDOT:PSS and DMSO. Bending induced characterization tests of prototyped sensors showed high sensitivity and sufficient stability.In this paper, we describe SkinCells, robot skin sensor arrays integrated with electronic modules. 4x4 EHD-printed arrays of strain sensors was packaged onto Kapton sheets and silicone encapsulant and interconnected to a custom electronic module that consists of a microcontroller, Wheatstone bridge with adjustable digital potentiometer, multiplexer, and serial communication unit. Thus, SkinCell's electronics can be used for signal acquisition, conditioning, and networking between sensor modules. Several SkinCells were loaded with controlled pressure, temperature and humidity testing apparatuses, and testing results are reported in this paper.

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Enhancement of Manipulator Interactivity through Compliant Skin and Extended Kalman Filtering

Cited by 10 publications

References 15 publications

SUAS: A Novel Soft Underwater Artificial Skin with Capacitive Transducers and Hyperelastic Membrane

SUAS: A Novel Soft Underwater Artificial Skin with Capacitive Transducers and Hyperelastic Membrane

EHD printing of PEDOT: PSS inks for fabricating pressure and strain sensor arrays on flexible substrates

Piezoresistive pressure sensor array for robotic skin

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