Soft Tactile Sensing Skins for Robotics

Roberts, Peter; Zadan, Mason; Majidi, Carmel

doi:10.1007/s43154-021-00065-2

Cited by 58 publications

(33 citation statements)

References 107 publications

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“…Electronic skins are typically capable of performing pressure sensing [42]- [44]. While electronic skins have many advantages of thin size, easy integration, and flexibility, they only transduce one property, such as pressure or shear forces [43]. This could be a significant weakness concerning their use in robotic manipulation, where three-axis force and/or torque sensing can be extremely beneficial.…”

Section: A Design Advantagesmentioning

confidence: 99%

A Tactile Sensing Concept for 3D Displacement and 3D Force Measurement using Light Angle and Intensity Sensing

Leslie¹,

Bulens²,

Ulloa³

et al. 2023

Preprint

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<p>This paper proposes an optical-based tactile sensor design concept, which uses a light angle and intensity sensor to infer force and displacement from deformations of a silicone pillar. The proposed design uses a simple, low?cost fabrication method with an overall small-scale form factor. The sensor can measure 3D displacement, 3D force, and vibration. The overall displacement estimation error (mean ± SD) in the X, Y, and Z axes was 40.2 µm ± 34.8 µm, 4.0 µm ± 55.3 µm and 13.3 µm ± 11.8 µm, respectively, over a full-scale lateral displacement of 1 mm radius in X and Y and 2.2 mm compression in Z. The overall force estimation error (mean ± SD) was 38.3 ± 29.6 mN, 40.1 ± 29.4 mN and 0.074 ±61.9 mN for a full-scale force of approximately 2 N in X or Y, and 6 N in Z. Sensitivity to vibrations in the range of 10-950 Hz was also evaluated showing good sensitivity over this entire range. This new sensing approach could be of benefit in robotic manipulation applications, as it could be easily arrayed and/or integrated into the fingers of a robotic gripper to sense slip events and measure load and grip forces and torques. </p>

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Section: A Design Advantagesmentioning

confidence: 99%

A Tactile Sensing Concept for 3D Displacement and 3D Force Measurement using Light Angle and Intensity Sensing

Leslie¹,

Bulens²,

Ulloa³

et al. 2023

Preprint

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“…The purpose is to make the sensor fit well into the robotic hand surface without interfering with mobility or contact mechanics. 65…”

Section: Extrinsic Sensor For Robotic Handsmentioning

confidence: 99%

A review on sensory perception for dexterous robotic manipulation

Xia¹,

Deng

Fang

et al. 2022

International Journal of Advanced Robotic Systems

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Sensory perception for dexterous robotic hands is an active research area and recent progress in robotics. Effective dexterous manipulation requires robotic hands to accurately feedback their state or perceive the surrounding environment. This article reviews the state-of-the-art of sensory perception for dexterous robotic manipulation. Two types of sensors, such as intrinsic and extrinsic sensors, are introduced according to their function and layout in robotic hands. These sensors provide rich information to a robotic hand, which contains the posture, the contact information of objects, and the physical information of the environment. Then, a comprehensive analysis of perception methods including planning-level, control-level, and learning-level perceptions is presented. The information obtained from sensory perception can help robotic hands to make decisions effectively. Previously issued reviews mainly focus on the design of tactile senor, while we analyze and discuss the relationship among sensing, perception, and dexterous manipulation. Some potential research topics on sensory perception are also summarized and discussed.

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“…For skin-like applications, instead of the pure performance, the spatial resolution and the ability to cover a large area are the most important. Multiple technologies have been since proposed; see [ 5 ] for a recent review of sensors for artificial skin and the merits of each technology.…”

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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Soft Tactile Sensing Skins for Robotics

Cited by 58 publications

References 107 publications

A Tactile Sensing Concept for 3D Displacement and 3D Force Measurement using Light Angle and Intensity Sensing

A Tactile Sensing Concept for 3D Displacement and 3D Force Measurement using Light Angle and Intensity Sensing

A review on sensory perception for dexterous robotic manipulation

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

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