Sensors for Robotic Hands: A Survey of State of the Art

Saudabayev, Artur; Varol, Hüseyin Atakan

doi:10.1109/access.2015.2482543

Cited by 97 publications

(69 citation statements)

References 161 publications

(186 reference statements)

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“…Pressure‐sensitive devices that are flexible and transparent are emerging as key components of diverse, next‐generation electronics, such as artificial electronic skin, soft robotics, healthcare monitoring, sports, and various industrial applications . In order to produce a pressure sensing platform for versatile applications, one of the most important requirements is the ability to cover a wide range of pressures accurately, ranging from as low as 1 kPa to more than 100 kPa.…”

Section: Introductionmentioning

confidence: 99%

Amorphous Oxide Semiconductor Transistors with Air Dielectrics for Transparent and Wearable Pressure Sensor Arrays

Jang

Hwang

et al. 2019

Adv Materials Technologies

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applications. [3] In order to produce a pressure sensing platform for versatile applications, one of the most important requirements is the ability to cover a wide range of pressures accurately, ranging from as low as 1 kPa to more than 100 kPa. Many studies have been conducted concerning the fabrication of precision pressure sensors based on piezoresistivity, [9] piezoelectricity, [10] capacitance, [11,12] and field-effect transistor (FET) devices. [13][14][15] Piezoresistive sensors have high sensitivity and can be fabricated at low cost because of their simple structure, but, typically, they have nonlinear response and can only detect a narrow range of pressures. [16][17][18] Piezoelectric sensors have rapid response time and dynamic sensing capabilities, but they have a pyroelectric property [1] and unreliable static-sensing characteristics. [19] The operational principle and structure of capacitive type sensors are simple, and they have high sensitivity and compatibility for the measurement of static forces. However, their sensitivities decrease as the sizes of the pixels become smaller for miniaturization. [20,21] In addition, all of the aforementioned types of pressure sensors are controlled by a passive-matrix method, and they exhibit low readout speed, high signal crosstalk, and high power consumption. [22] By contrast, FET-type pressure sensors can be operated with an active-matrix method, which allows high uniformity of the arrays, low power consumption, high Flexible, transparent pressure sensors have numerous potential applications in wearable electronics, soft robotics, health monitoring. In particular, highly sensitive and reliable pressure sensors that cover wide ranges of pressures are promising because they can undergo various external stimulations. Here an unconventional approach is presented for fabricating the active-matrix array of air-dielectric, amorphous oxide semiconductor transistors for transparent, wearable pressure sensors. In the structure of these pressure-sensitive fieldeffect transistors (FETs), the clean interface between the air and the oxide semiconductor channel enables the FETs to have outstanding mobility and negligible electrical hysteresis with rapid and reliable responses as pressure sensors for an extensive range of pressures from 200 Pa to 5 MPa. Also, low processing temperature and high transparency of oxide semiconductors make it possible to fabricate them on plastics with flexibility and transparency. The fabrication of active-matrix pressure sensor arrays demonstrated the realtime monitoring of freely moving, ultralight, liquid droplets on the sensor. In addition, this can be integrated into the fingertips of gloves to monitor the pressure changes that occur during grasping objects. These results illustrate the potential of pressure sensors to provide robust solutions in the next-generation electronics including remote surgery, health monitoring, and robotics.

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Section: Introductionmentioning

confidence: 99%

Amorphous Oxide Semiconductor Transistors with Air Dielectrics for Transparent and Wearable Pressure Sensor Arrays

Jang

Hwang

et al. 2019

Adv Materials Technologies

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“…These applications require autonomous dexterous robots that perform increasingly human-like manipulation tasks and achieve advanced manipulation tasks such as in-hand regrasping, rotation and translation. The current level of development of a sophisticated multi-fingered robot hand is still at an early stage because of its control complexity and the immature synchronous cooperation between sensor-motor systems [2]. Hence, how to intensively investigate in-hand manipulation skills of humans, and further transfer such skills into bionic multi-fingered dexterous robotic hands have been receiving considerable attention [3].…”

Section: Introductionmentioning

confidence: 99%

Multiple Sensors Based Hand Motion Recognition Using Adaptive Directed Acyclic Graph

Xue

Xiang

et al. 2017

Applied Sciences

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Abstract:The use of human hand motions as an effective way to interact with computers/robots, robot manipulation learning and prosthetic hand control is being researched in-depth. This paper proposes a novel and effective multiple sensor based hand motion capture and recognition system. Ten common predefined object grasp and manipulation tasks demonstrated by different subjects are recorded from both the human hand and object points of view. Three types of sensors, including electromyography, data glove and FingerTPS are applied to simultaneously capture the EMG signals, the finger angle trajectories, and the contact force. Recognising different grasp and manipulation tasks based on the combined signals is investigated by using an adaptive directed acyclic graph algorithm, and results of comparative experiments show the proposed system with a higher recognition rate compared with individual sensing technology, as well as other algorithms. The proposed framework contains abundant information from multimodal human hand motions with the multiple sensor techniques, and it is potentially applicable to applications in prosthetic hand control and artificial systems performing autonomous dexterous manipulation.

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“…Unlike existing multimodal sensors such as [18], the dynamic and the static sensing here use the same principle of transduction (capacitance-based), which entails a simpler and more compact integration in embedded applications. The single dynamic taxel is integrated around the static taxels.…”

Section: Multimodal Capacitive Sensormentioning

confidence: 99%

A highly sensitive multimodal capacitive tactile sensor

Maslyczyk

Roberge

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-As technology develops, manufacture process becomes more and more automated using robots. There is demand for high performance tactile sensor which can support robotic grippers in manipulation tasks especially for unstructured flexible objects. Despite the efforts that have been spent, the fabrication process of those functional sensor remains complicated due to their requirement of specialized materials and equipment. The proposed multimodal sensor overcomes the difficulty by enhancing the electrical and mechanical design therefore simplifying the manufacture steps. In this version, static and dynamic sensing are integrated in the same layer of capacitive sensor with direct written microstructured dielectric. This structure allows it to have large range of force sensing as well as the ability of detecting contact events such as slippage or losing of contact.

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Sensors for Robotic Hands: A Survey of State of the Art

Cited by 97 publications

References 161 publications

Amorphous Oxide Semiconductor Transistors with Air Dielectrics for Transparent and Wearable Pressure Sensor Arrays

Amorphous Oxide Semiconductor Transistors with Air Dielectrics for Transparent and Wearable Pressure Sensor Arrays

Multiple Sensors Based Hand Motion Recognition Using Adaptive Directed Acyclic Graph

A highly sensitive multimodal capacitive tactile sensor

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