ReSkin: versatile, replaceable, lasting tactile skins

Bhirangi, Raunaq; Hellebrekers, Tess; Majidi, Carmel; Gupta, Abhinav

doi:10.48550/arxiv.2111.00071

Cited by 7 publications

(10 citation statements)

References 33 publications

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“…We observe that the median error increases only slightly during the course of multiple trials on the sensor. One main reason why WiForceSticker's capacitive sensor is durable is that it doesn't have wired interconnects with capacitor which have known to hamper the durability of such sensors [53]. A wireless capacitive sensor doesn't suffer from these drawbacks, and thus as compared to previous capacitive-based sensors, WiForceSticker is much more durable as a consequence of the wireless operation.…”

Section: Wireless Measurement Results and Sensor Benchmarkingmentioning

confidence: 99%

“…The piezo sensors generate small voltages as a function of contact forces applied onto the sensor [27,29,74,79]. The magnetic sensors create distortions in magnetic field due to the applied force [53,77,80,81]. A unifying theme of these three sensor types is the fact that they all need to be digitized before communicating these readings to remotely located wireless reader.…”

Section: Discrete Mems Force Sensorsmentioning

confidence: 99%

“…Typically, past work addresses this by using amplifiers and digitization blocks in Data acquisition units (DAQs) for the sensors. Usually, a DAQ would consist of OPAMP amplifier circuits, ADCs for resistive and piezo sensors [10,11], CDCs for capacitive sensors [24,30], and magnetometers for magnetic sensors [53,80]. After digitization, the values are modulated onto a wireless signal to communicate the readings to a distance.…”

Section: Discrete Mems Force Sensorsmentioning

confidence: 99%

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WiForceSticker: Batteryless, Thin Sticker-like Flexible Force Sensor

Gupta¹,

Park²,

Bashar³

et al. 2022

Preprint

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Any two objects in contact with each other exert a force that could be simply due to gravity or mechanical contact, such as a robotic arm gripping an object or even the contact between two bones at our knee joints. The ability to naturally measure and monitor these contact forces allows a plethora of applications from warehouse management (detect faulty packages based on weights) to robotics (making a robotic arms' grip as sensitive as human skin) and healthcare (knee-implants). It is challenging to design a ubiquitous force sensor that can be used naturally for all these applications. First, the sensor should be small enough to fit in narrow joints or not make the robotic arm bulky. Next, we don't want to lay long, cumbersome cables to read the force values from the sensor to the monitoring device. And finally, even current wireless technology requires a battery that could be hazardous for in-body applications. We develop WiForceSticker, a wireless, battery-free, sticker-like force sensor that can be ubiquitously deployed on any surface, such as all warehouse packages, robotic arms, and knee joints. WiForceSticker first designs a tiny 4 mm × 2 mm × 0.4 mm capacitative sensor design equipped with a 10 mm × 10 mm antenna designed on a flexible PCB substrate. Secondly, it introduces a new mechanism to transduce the force information on ambient RF radiations that can be read by a remotely located reader wirelessly without requiring any battery or active components at the force sensor, by interfacing the sensors with COTS RFID systems. The sensor can detect forces in the range of 0-6 N with sensing accuracy of < 0.5 N across multiple testing environments and evaluated with over 10, 000 varying force level presses on the sensor. We also showcase two application case studies with our designed sensors, weighing warehouse packages and sensing forces applied by bone joints.

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Section: Wireless Measurement Results and Sensor Benchmarkingmentioning

confidence: 99%

Section: Discrete Mems Force Sensorsmentioning

confidence: 99%

Section: Discrete Mems Force Sensorsmentioning

confidence: 99%

See 1 more Smart Citation

WiForceSticker: Batteryless, Thin Sticker-like Flexible Force Sensor

Gupta¹,

Park²,

Bashar³

et al. 2022

Preprint

View full text Add to dashboard Cite

show abstract

“…For a robot to perform tasks based on tactile perception, it is necessary to incorporate a tactile sensor that generates tactile signals. Various types of tactile sensors, such as capacitive [ 4 , 5 ], piezoresistive [ 6 , 7 ], optical [ 8 , 9 ], piezoelectric [ 10 , 11 ], and magnetic sensors [ 12 , 13 ], have been developed for robots to recognize their environments during interactions by generating tactile signals. The signal generated by the aforementioned tactile sensors enables robots to execute sophisticated tasks using robot grippers that were once deemed challenging or unfeasible.…”

Section: Introductionmentioning

confidence: 99%

Effects of Sensing Tactile Arrays, Shear Force, and Proprioception of Robot on Texture Recognition

Yang

Kim

Lim

2023

Sensors

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In robotics, tactile perception is important for fine control using robot grippers and hands. To effectively incorporate tactile perception in robots, it is essential to understand how humans use mechanoreceptors and proprioceptors to perceive texture. Thus, our study aimed to investigate the impact of tactile sensor arrays, shear force, and the positional information of the robot’s end effector on its ability to recognize texture. A deep learning network was employed to classify tactile data from 24 different textures that were explored by a robot. The input values of the deep learning network were modified based on variations in the number of channels of the tactile signal, the arrangement of the tactile sensor, the presence or absence of shear force, and the positional information of the robot. By comparing the accuracy of texture recognition, our analysis revealed that tactile sensor arrays more accurately recognized the texture compared to a single tactile sensor. The utilization of shear force and positional information of the robot resulted in an improved accuracy of texture recognition when using a single tactile sensor. Furthermore, an equal number of sensors placed in a vertical arrangement led to a more accurate distinction of textures during exploration when compared to sensors placed in a horizontal arrangement. The results of this study indicate that the implementation of a tactile sensor array should be prioritized over a single sensor for enhanced accuracy in tactile sensing, and the use of integrated data should be considered for single tactile sensing.

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“…A further key issue associated with these magnetic-based force sensors is linked to the manufacturing process, specifically embedding the magnet within the soft elastomer. This is a manual process [ 28 ], which degrades repeatability and scalability, inhibiting high-volume production.…”

Section: Introductionmentioning

confidence: 99%

Mass-Manufacturable 3D Magnetic Force Sensor for Robotic Grasping and Slip Detection

Signor¹,

Dupré²,

Didden

et al. 2023

Sensors

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The manipulation of delicate objects remains a key challenge in the development of industrial robotic grippers. Magnetic force sensing solutions, which provide the required sense of touch, have been demonstrated in previous work. The sensors feature a magnet embedded within a deformable elastomer, which is mounted on top of a magnetometer chip. A key drawback of these sensors lies in the manufacturing process, which relies on the manual assembly of the magnet–elastomer transducer, impacting both the repeatability of measurements across sensors and the potential for a cost-effective solution through mass-manufacturing. In this paper, a magnetic force sensor solution is presented with an optimized manufacturing process that will facilitate mass production. The elastomer–magnet transducer was fabricated using injection molding, and the assembly of the transducer unit, on top of the magnetometer chip, was achieved using semiconductor manufacturing techniques. The sensor enables robust differential 3D force sensing within a compact footprint (5 mm × 4.4 mm × 4.6 mm). The measurement repeatability of these sensors was characterized over multiple samples and 300,000 loading cycles. This paper also showcases how the 3D high-speed sensing capabilities of these sensors can enable slip detection in industrial grippers.

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ReSkin: versatile, replaceable, lasting tactile skins

Cited by 7 publications

References 33 publications

WiForceSticker: Batteryless, Thin Sticker-like Flexible Force Sensor

WiForceSticker: Batteryless, Thin Sticker-like Flexible Force Sensor

Effects of Sensing Tactile Arrays, Shear Force, and Proprioception of Robot on Texture Recognition

Mass-Manufacturable 3D Magnetic Force Sensor for Robotic Grasping and Slip Detection

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