Tactile Sensing for Robotic Applications

Dahiya, Ravinder; Valle, Maurizio

doi:10.5772/6627

Cited by 12 publications

(8 citation statements)

References 60 publications

(52 reference statements)

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“…Based on [20,22], two contact phases have to be distinguished: Tip contacts with a known contact position s 1 = 1 but an unknown contact angle ϕ(1) > α, and tangential contacts with an unknown contact position s 1 ∈ (0, 1] but a known contact angle: ϕ(s 1 ) = α. Using Equations (8), (14), (2) and 4, we find the following BCs: tip contacts:…”

Section: Modeling the Scanning And Reconstruction Process Theoreticallymentioning

confidence: 99%

“…In Section 3, it will be shown that the latter alternative of Equation 23, which is based on the clamping moment, may be beneficial. Using Equations (2) and (23) the orientation of the local coordinate system (u, v, w) is determined. In addition, we calculate the magnitude f and the direction of the contact force, which coincides with the surface normal n 1 in the absence of friction:…”

Section: Remark 2 Depending On C the Implicit Function Equationmentioning

confidence: 99%

“…Developing tactile sensors, engineers often draw their inspiration from biology. For instance, a large number of robots and grippers is equipped with tactile sensors inspired by the human skin [2,3]. One drawback of these sensors is their limited scanning range.…”

Section: Introductionmentioning

confidence: 99%

“…(a) (b) Figure 1. Mobile robots equipped with tactile sensors exploring using different probes to explore their environments: (a) robot with a dual switch or a skin-like sensor with limited range-(1) robot passing the object without sensor contact, (2) first collision with the object leads to the detection of a single discrete point, (3) moving backwards/ repositioning, (4) second collision with the object leads to the detection of a second discrete point, (5) see (3), (6) obstacle avoidance completed; (b) robot with a rod-shaped, highly flexible sensor-(1) passing the object witch continuous sensor contact (detecting a sequence of contact points), (2) using information from (1) for making the next contact, (3) wall-following from (2) Therefore, many robots would benefit from tactile sensors with a near-field scanning range, as sketched in Figure 1b. In this scenario, the robot might initially move through the environment without any sensor-object contact.…”

Section: Introductionmentioning

confidence: 99%

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A Vibrissa-Inspired Highly Flexible Tactile Sensor: Scanning 3D Object Surfaces Providing Tactile Images

Merker

Steigenberger

Marangoni

et al. 2021

Sensors

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Just as the sense of touch complements vision in various species, several robots could benefit from advanced tactile sensors, in particular when operating under poor visibility. A prominent tactile sense organ, frequently serving as a natural paragon for developing tactile sensors, is the vibrissae of, e.g., rats. Within this study, we present a vibrissa-inspired sensor concept for 3D object scanning and reconstruction to be exemplarily used in mobile robots. The setup consists of a highly flexible rod attached to a 3D force-torque transducer (measuring device). The scanning process is realized by translationally shifting the base of the rod relative to the object. Consequently, the rod sweeps over the object’s surface, undergoing large bending deflections. Then, the support reactions at the base of the rod are evaluated for contact localization. Presenting a method of theoretically generating these support reactions, we provide an important basis for future parameter studies. During scanning, lateral slip of the rod is not actively prevented, in contrast to literature. In this way, we demonstrate the suitability of the sensor for passively dragging it on a mobile robot. Experimental scanning sweeps using an artificial vibrissa (steel wire) of length 50 mm and a glass sphere as a test object with a diameter of 60 mm verify the theoretical results and serve as a proof of concept.

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Section: Modeling the Scanning And Reconstruction Process Theoreticallymentioning

confidence: 99%

Section: Remark 2 Depending On C the Implicit Function Equationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A Vibrissa-Inspired Highly Flexible Tactile Sensor: Scanning 3D Object Surfaces Providing Tactile Images

Merker

Steigenberger

Marangoni

et al. 2021

Sensors

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“…Researchers have successfully developed multiple technologies both in transduction and fabrication of contact-based shape sensors to suitably adapt to various applications. Transduction principles include capacitive, resistive, piezoresistive, piezoelectric and so on (Ravinder and Valle, 2008). Advanced fabrication tools include printed electronics, spin coating, microelectromechanical systems (MEMS) and so on (Khan et al , 2015).…”

Section: Review Of Shape Sensing Methods and Fiber Optics Based Shape Sensingmentioning

confidence: 99%

Recent trends and role of large area flexible electronics in shape sensing application – a review

Shaik

Rufus

2021

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Purpose This paper aims to review the shape sensing techniques using large area flexible electronics (LAFE). Shape perception of humanoid robots using tactile data is mainly focused. Design/methodology/approach Research papers on different shape sensing methodologies of objects with large area, published in the past 15 years, are reviewed with emphasis on contact-based shape sensors. Fiber optics based shape sensing methodology is discussed for comparison purpose. Findings LAFE-based shape sensors of humanoid robots incorporating advanced computational data handling techniques such as neural networks and machine learning (ML) algorithms are observed to give results with best resolution in 3D shape reconstruction. Research limitations/implications The literature review is limited to shape sensing application either two- or three-dimensional (3D) LAFE. Optical shape sensing is briefly discussed which is widely used for small area. Optical scanners provide the best 3D shape reconstruction in the noncontact-based shape sensing; here this paper focuses only on contact-based shape sensing. Practical implications Contact-based shape sensing using polymer nanocomposites is a very economical solution as compared to optical 3D scanners. Although optical 3D scanners can provide a high resolution and fast scan of the 3D shape of the object, they require line of sight and complex image reconstruction algorithms. Using LAFE larger objects can be scanned with ML and basic electronic circuitory, which reduces the price hugely. Social implications LAFE can be used as a wearable sensor to monitor critical biological parameters. They can be used to detect shape of large body parts and aid in designing prosthetic devices. Tactile sensing in humanoid robots is accomplished by electronic skin of the robot which is a prime example of human–machine interface at workplace. Originality/value This paper reviews a unique feature of LAFE in shape sensing of large area objects. It provides insights from mechanical, electrical, hardware and software perspective in the sensor design. The most suitable approach for large object shape sensing using LAFE is also suggested.

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