System approach: A paradigm for robotic tactile sensing

Dahiya, Ravinder; Valle, Maurizio; Metta, Giorgio

doi:10.1109/amc.2008.4516050

Cited by 16 publications

(13 citation statements)

References 14 publications

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“…Distributed nature of tactile sensing calls for large number of tactile sensors spread over the body, resulting in a large amount of data. In such a situation, on-chip tactile information processing, like on-chip slip detection [21], can help in optimally using the limited computational resources of robots [7]. Accommodating on-chip electronic circuitry requires study of challenging issues like those related to integration of the sensors and electronics and also their coupling.…”

Section: Resultsmentioning

confidence: 99%

“…The tactile sensing technology largely remains unsatisfactory for humanoid robotics either because the developed sensors are single big size touch elements and are too big to be used without sacrificing the dexterity, or because they are slow, or fragile. Many innovative sensors could not find practical use due to the lack of system approach during the design stage [7].…”

Section: Introductionmentioning

confidence: 99%

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Development of fingertip tactile sensing chips for humanoid robots

Dahiya

Metta

Valle

2009

2009 IEEE International Conference on Mechatronics

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This paper presents the development of tactile sensing\ud chips, for the fingertips of humanoid robots. In the first phase of\ud development, piezoelectric polymer-MEA (microelectrode array)\ud based test chips have been realized. Each chip comprises of 32\ud microelectrodes, epoxy-adhered with a thin piezoelectric polymer\ud (PVDF-TrFE) film. The diameter of each microelectrode or\ud 'taxel' (tactile element) is 500 11m and the center to center\ud distance between taxels is 1 mm. The tactile sensing chips have\ud been experimentally evaluated over a wide range (0.02 - 4N or - 2\ud gmf- 400 gmt) of dynamic normal forces and frequencies (2 Hz -\ud 5 KHz) by applying variable force with constant frequency in the\ud first case and constant force with variable frequency in latter.\ud The cross-talk, among adjacent taxels on the chips, is found to be\ud approximately 20%. Finally, the ability of the chips to identify\ud object material on the basis of their hardness is also\ud demonstrated

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Development of fingertip tactile sensing chips for humanoid robots

Dahiya

Metta

Valle

2009

2009 IEEE International Conference on Mechatronics

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“…Designing an effective solution first of all implies the analysis of requirements and constraints; this means to address the following points [15]: 1) Transduction 2) Signal conditioning circuitry 3) Multiplexing 4) Analog to digital conversion 5) Communication interface (encoding and transmission). We believe that only considering the system as a whole and thus looking at the big picture since the beginning it is possible to exploit all the strengths of each sub-part.…”

Section: Introductionmentioning

confidence: 99%

Wireless Multi-channel Quasi-digital Tactile Sensing Glove-Based System

Ros

Crepaldi

Bonanno

et al. 2013

2013 Euromicro Conference on Digital System Design

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The design of a wireless data-glove is introduced in this paper; the aim is to provide an effective and complete solution wherever a tactile sensing system has to be integrated to correctly interact with the surrounding environment (e.g., astronaut's extravehicular activity glove). The focus is on the design of the whole system, starting with the readout circuit, the digital signal encoding and ending with the data transmission.The system is made of eight quasi-digital readout circuits to convert the analog information into a pulse-density modulation. The pulse streams are then temporally ordered to form a single streams of events. By integrating a Impulse Radio UltraWide Band (IR-UWB) transmitter and choosing the proper protocol and modulation, we can aim to minimize the power consumption and provide error detection; the design has also taken into account the minimization of the complexity of the receiver.The whole system, fully asynchronous, has been designed as a single full-custom chip; besides having multiple independent inputs, it can be configured both to deploy a multi-chip system (with a single receiver) and to optimize wireless transmission parameters.

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“…This local preprocessing is followed by reflex loops located in the spinal cord [5]. Finally, all tactile signals are fused together in the brain with information from other sensory systems like vision and audition [7].…”

Section: Introductionmentioning

confidence: 99%

Humanoid Multimodal Tactile-Sensing Modules

2011

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Abstract-In this paper, we present a new generation of active Tactile Modules (HEX-O-SKIN), developed in order to approach multi-modal whole body touch sensation for humanoid robots. To better perform like human, humanoid robots need the variety of different sensory modalities in order to interact with their environment. This calls for certain robustness and fault tolerance as well as an intelligent solution to connect the different sensory modalities to the robot.Each HEX-O-SKIN is a small hexagonal PCB equipped with multiple discrete sensors for temperature, acceleration and proximity. With these sensors we emulate the human sense of temperature, vibration and light touch. Off-the-shelf sensors were utilized to speed up our development cycle, but in general we can easily extend our design with new discrete sensors, making it flexible for further exploration.A local controller on each HEX-O-SKIN pre-processes the sensor signals and actively routes data through a network of modules towards the closest PC connection. Local processing decreases the necessary network and high level processing bandwidth, while a local analogue to digital conversion and digital data transfers are less sensitive to electromagnetic interference.With an active data routing scheme, it is also possible to reroute the data around broken connections -yielding robustness throughout the global structure while minimizing wirings. To support our approach, multiple HEX-O-SKIN are embedded into a rapid prototyped elastomer skin material and redundantly connected to neighboring modules by just four ports. The wiring complexity is shifted to each HEX-O-SKIN such that a power and data connection between two modules is reduced to four non-crossing wires. Thus, only a very simple robot specific base frame is needed to support and wire the HEX-O-SKIN to a robot.The potential of our multi-modal sensor modules is demonstrated experimentally on a robot platform.Index Terms-humanoid skin, artificial sensor skin, multimodal skin, tactile sensor module, sensor network, touch controller.

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System approach: A paradigm for robotic tactile sensing

Cited by 16 publications

References 14 publications

Development of fingertip tactile sensing chips for humanoid robots

Development of fingertip tactile sensing chips for humanoid robots

Wireless Multi-channel Quasi-digital Tactile Sensing Glove-Based System

Humanoid Multimodal Tactile-Sensing Modules

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