Novel high resolution tactile robotic fingertips

Drimus, Alin; Jankovics, Vince; Gorsic, Matija; Mátéfi‐Tempfli, Stefan

doi:10.1109/icsens.2014.6985118

Cited by 2 publications

(4 citation statements)

References 13 publications

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“…(D) Tactile images (top) and corresponding test situations (bottom) for six different end-effector poses. The more slanted the pose, the more marginal is the location of mean activity in the tactile image (adapted from Drimus et al, 2014a, with permission). (E) Sensorized end-effector mounted on HECTOR.…”

Section: Ground Contact and Load-dependent Coordinationmentioning

confidence: 99%

“…A final thin protective layer of polyurethane-impregnated textile was applied, not unlike a sock, as shown in Figure 7B. For a detailed description of the manufacturing process, see Drimus et al (2014a). The finalized prototypes, together with the electronics modules, are shown in Figure 7C.…”

Section: Ground Contact and Load-dependent Coordinationmentioning

confidence: 99%

“…The microcontroller can reply requests via the Bioflex bus regarding force, pressure or angle estimates, as well as full tactile images with 8-bit values per taxel. According to model calculations, accurate estimates can be obtained for forces as low as 0.1 N. Below that, accuracy deteriorates due to contact resistance uncertainties within the piezo-resistive rubber (Drimus et al, 2014a).…”

Section: Ground Contact and Load-dependent Coordinationmentioning

confidence: 99%

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Integrative Biomimetics of Autonomous Hexapedal Locomotion

et al. 2019

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Despite substantial advances in many different fields of neurorobotics in general, and biomimetic robots in particular, a key challenge is the integration of concepts: to collate and combine research on disparate and conceptually disjunct research areas in the neurosciences and engineering sciences. We claim that the development of suitable robotic integration platforms is of particular relevance to make such integration of concepts work in practice. Here, we provide an example for a hexapod robotic integration platform for autonomous locomotion. In a sequence of six focus sections dealing with aspects of intelligent, embodied motor control in insects and multipedal robots—ranging from compliant actuation, distributed proprioception and control of multiple legs, the formation of internal representations to the use of an internal body model—we introduce the walking robot HECTOR as a research platform for integrative biomimetics of hexapedal locomotion. Owing to its 18 highly sensorized, compliant actuators, light-weight exoskeleton, distributed and expandable hardware architecture, and an appropriate dynamic simulation framework, HECTOR offers many opportunities to integrate research effort across biomimetics research on actuation, sensory-motor feedback, inter-leg coordination, and cognitive abilities such as motion planning and learning of its own body size.

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Section: Ground Contact and Load-dependent Coordinationmentioning

confidence: 99%

Section: Ground Contact and Load-dependent Coordinationmentioning

confidence: 99%

Section: Ground Contact and Load-dependent Coordinationmentioning

confidence: 99%

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Integrative Biomimetics of Autonomous Hexapedal Locomotion

et al. 2019

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“…There are many examples of realizations that follow this basic approach, though they do not share the same working principle. Some realizations are based on conductive rubbers, where conductive paths are created because the concentration of conductive particles increases as the pressure increases, as stated by the percolation theory [ 6 , 7 , 8 , 9 ]. Others are based on quantum tunneling effects [ 10 ].…”

Section: Introductionmentioning

confidence: 99%

Insights into the Mechanical Behaviour of a Layered Flexible Tactile Sensor

Castellanos-Ramos

Navas-González

Fernández

et al. 2015

Sensors

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This paper shows realizations of a piezoresistive tactile sensor with a low cost screen-printing technology. A few samples were fabricated for different materials used as insulator between the conductive layers and as top layer or cover. Both can be used to tune the sensitivity of the sensor. However, a large influence is also observed of the roughness at the contact interface on the sensitivity and linearity of the output, as well as on mismatching between the outputs from different taxels. The roughness at the contact interface is behind the transduction principle of the sensor, but it also limits its performance if the wavelength of the roughness is comparable or even longer than the size of the contacts. The paper shows experimental results that confirm this relationship and discusses its consequences in sensor response related to the materials chosen for the insulator and the cover. Moreover, simulations with FEA tools and with simple models are used to support the discussions and conclusions obtained from the experimental data. This provides insights into the sensor behaviour that are shared by other sensors based on the same principle.

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Novel high resolution tactile robotic fingertips

Cited by 2 publications

References 13 publications

Integrative Biomimetics of Autonomous Hexapedal Locomotion

Integrative Biomimetics of Autonomous Hexapedal Locomotion

Insights into the Mechanical Behaviour of a Layered Flexible Tactile Sensor

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