Piezoelectric Actuation and Sensing for Facial Robotics

Tadesse, Yonas; Priya, Shashank; Stephanou, H.E.; Popa, Dan O.; Hanson, David

doi:10.1080/00150190601018010

Cited by 39 publications

(26 citation statements)

References 5 publications

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“…Many HRwFE prototypes have been presented in the past such as humanoid robot head ROMAN [29], Albert HUBO [30,31], humanoid robot KOBIAN-R [32], Face Robot SAYA [33], F & H robot [34], Geminoid [35], WE-3RIV [36], ER-1 [37], and BabyDARwln [21]. A few examples are shown in Figures 2 and 3 Albert-piezo: ultrasonic motors based humanoid head [38], Lilly humanoid: servo motors and embedded piezoelectric sensors in the face [39], shape memory alloy based head [21], and servo motor based Albert Hubo [30,31]. Unique capabilities of humanoids were also demonstrated in the humanoid robot called WE-3RIV [36] that utilizes facial coloration to display emotions using red EL (Electro Luminescent) thin and light sheet device.…”

Section: Humanoid Robots With Facial Expressions (Hrwfe)mentioning

confidence: 99%

Artificial heart for humanoid robot using coiled SMA actuators

Potnuru

Tadesse

2015

SPIE Proceedings

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Previously, we have presented the design and characterization of artificial heart using cylindrical shape memory alloy (SMA) actuators for humanoids [1]. The robotic heart was primarily designed to pump a blood-like fluid to parts of the robot such as the face to simulate blushing or anger by the use of elastomeric substrates for the transport of fluids. It can also be used for other applications. In this paper, we present an improved design by using high strain coiled SMAs and a novel pumping mechanism that uses sequential actuation to create peristalsis-like motions, and hence pump the fluid. Various placements of actuators were investigated with respect to the silicone elastomeric body. This new approach provides a better performance in terms of the volume of fluid pumped out.

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Section: Humanoid Robots With Facial Expressions (Hrwfe)mentioning

confidence: 99%

Artificial heart for humanoid robot using coiled SMA actuators

Potnuru

Tadesse

2015

SPIE Proceedings

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“…It is assumed that the human operator can apply force at the point where the artificial skin patch is mounted. An actual signal reading from the piezo-based artificial skin patch ("Quickskin" from [11]) is shown in Fig. 3, from which the covariance corresponding to the signal was calculated to be 0.0591, and this value is used in the numerical simulation in the next section.…”

Section: Instead Of a Signum Function In Thementioning

confidence: 99%

“…We have recently introduced a new robotic skin patch ("Quickskin™") [11] based on piezoelectric transducers embedded into a soft elastomer base, and we propose its use to enhance human-robot interactivity. Physical interaction with through pushing or pulling on the robot arm can be used to guide through a desired motion.…”

Section: Introductionmentioning

confidence: 99%

Enhancement of Manipulator Interactivity through Compliant Skin and Extended Kalman Filtering

Rajruangrabin

Popa

2007

2007 IEEE International Conference on Automation Science and Engineering

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In this paper we discuss control algorithms for real-time interaction between humans and robot manipulators sharing a common workspace. Unlike traditional robotic manipulators, we assume that the interaction between human and robot is not restricted to the wrist/end-effector of the robot, but that it can happen anywhere along the kinematic chain. Interaction forces are measured in some directions, and estimated in others via an Extended Kalman Filter. Sensory measurements used are traditional shaft encoders and also 1 dimensional force sensors via robotic "skin" placed on the robot links. We present simulation results with a CRS A465 showing the performance of our algorithms that compare the impedance response in the presence and absence of force measurements. We also show planned experimental validation on an actual robot using "Quickskin", a piezo-electric skin patch prototype in our lab.

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“…Their other advantages include quick response time, free from magnetic influence, and ability to exert a holding force without external input. Due to these characteristics, LUSMs have found increasing applications in smallscale precision systems (e.g., [4][5][6]). …”

Section: Introductionmentioning

confidence: 99%

Actuation of Linear Ultrasonic Motors with a Square-wave Based Excitation Voltage

Mills

Benhabib

2014

Ferroelectrics

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In this paper, a novel actuation approach is proposed for linear ultrasonic motors by applying a square-wave excitation voltage across the piezoceramic elements. Using this approach, the output force and power of the ultrasonic motor can be tangibly increased, without increasing its stator volume, thereby leading to improvement in the actuator power density. Added normal force is exerted on the moving stage by exciting the higher longitudinal resonant modes, the frequencies of which coincide with the harmonics of the square-wave voltage. The proposed approach is illustrated herein via the simulation of a suitably designed bimodal linear ultrasonic motor using finite-element analysis.

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Piezoelectric Actuation and Sensing for Facial Robotics

Cited by 39 publications

References 5 publications

Artificial heart for humanoid robot using coiled SMA actuators

Artificial heart for humanoid robot using coiled SMA actuators

Enhancement of Manipulator Interactivity through Compliant Skin and Extended Kalman Filtering

Actuation of Linear Ultrasonic Motors with a Square-wave Based Excitation Voltage

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