The induced vibration touch sensor – a new dynamic touch sensing concept

Patterson, Robert; Nevill, Gale E.

doi:10.1017/s0263574700002447

Cited by 36 publications

(9 citation statements)

References 6 publications

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“…Calculated results of Gain obtained from (4) through (8) are plotted as the dotted lines in Figure 5 by use of the circuit parameters in Table 1. Figure 5(a) shows the experimental result of Gain(vOut) which indicates a linear characteristic to be expressed as In design phase #2, we manufactured an artificial finger skin piece whose shape and size are designed as shown in Figure 6[11].…”

Section: Resultsmentioning

confidence: 99%

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Development of artificial finger skin to detect incipient slip for realization of static friction sensation

Fujimoto

Yamada

Morizono

et al.

Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI2003.

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The goal of our study is realization of static friction sensation using a piece of artificial finger skin for robot hand manipulation. In order to realize the sensation, we recall the importance of incipient slip detection. First, artiJicialJinger skin is designed which is mimicked to have characteristics similar to that of a human finger with respect to the shape and a part of the sensing functions which such enable the incipient slip detection: Thefinger skin has ridges on the surface in each of which a pair of ar@cia1 FA1 receptors are embedded. The design process of art$-cialfinger skin is also shown that includes three phases. Design phase #I is to design the characteristics of a FA1 receptor as the transducer of which, we choose PVDF film sheets which have a dynamic stress rate characteristic. Design phase #2 involves determination of the shape and size of artijkialfinger skin, and the location of the transducers in a ridge. We analyze the stress in the finger skin when incipient slip occurs at the surface. The signal from transducer is analyzed what the best situation of the position of transducer and the using information of transducer at the future process. Design phase #3 is to manufacture artijicial finger skin. Experimental result that incipient slip occurs at the surface of artijicial finger skin reveal that the differential output voltage signal from a pair of artijicial FA1 receptors embedded in a ridge captures not only low-frequency vibration to generate a predictive signal which warns incipient slip of the ridge, but also high frequency vibratory signal which indicates slip of the ridge. In order to judge automatically that incipient slip occurs we use multi-layered ANN. The result to judge incipient slip use ANN shows that the system is robust to noise and can detect the incipient slip.

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Section: Resultsmentioning

confidence: 99%

“…Later work on texture distinguishment by Patterson et a1. [8] is also notable, from the viewpoint that the work was the first proposal of using the PVDF film transducers in dynamic tactile sensing which is a widely applicable concept developed by Howe et a1. [9].…”

Section: Department Of Mechanical Engineeringmentioning

confidence: 98%

Development of artificial finger skin to detect incipient slip for realization of static friction sensation

Fujimoto

Yamada

Morizono

et al.

Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI2003.

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“…Some of the surveys about artificial tactile perception are [3-51. In [2] Patterson R. & Nevi11 G., developed may be one of the firsts artificial systems for dynamic tactile perception, they use axis-oriented transducers and an ingenious experimental setup, however they relay on the vibration of rubber ridges in the cover of the sensors and they works with limited kind of surfaces and textures. Howe et.…”

Section: Related Workmentioning

confidence: 99%

A first approach to tactile texture recognition

Mayol-Cuevas

Juarez-Guerrero²,

Munoz-Gutierrez³

SMC'98 Conference Proceedings. 1998 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.98CH36218)

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Tactile texture recognition seems to be a very important research area with various interesting applications which include medical, geological and more autonomous mobile robotics; despite the great amount of tasks that biological beings solve using the sense of touch, no much work is done in this area (except for pressure-related sensing), then, there are only a few papers in literature that uses dynamic tactile sensing strategies, i.e. the kind of exploration that we and the biological beings use to recognize a texture. In this paper we present a system for tactile texture recognition, using sound-understanding techniques. We develop a sensing "pen" with an electret piezoelectric microphone, covered by a rugged material, such pen is rubbed over the material that we want to iden*, the sound produced is segmented, the FFT is obtained and the result is introduced to a learning vector quantization technique (LVQ). We explore 18 common materials which includes surfaces from glass to a real human beard. We achieve more than 93% of recognition over the 18 textures, and when the system makes an error it gives a similar texture as result.

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“…It is also possible to instrument piezoelectric sensors with charge amplifiers so that they produce an output proportional to the local stress rather than the stress rate, although their high impedance makes them particularly suited for measuring dynamic forces [17][18][19][20][21][22][23][24][25]. However, with care they can even be used to measure static loads [26].…”

Section: Developments In Robotic Dynamic Tactile Sensingmentioning

confidence: 99%

Dynamic Tactile Sensing

Cutkosky

Ulmen

2014

Springer Tracts in Advanced Robotics

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Dynamic tactile sensing is an important capability for interacting with the world to identify textures and identify contact events such as objects making and breaking contact with the skin and rolling or slipping on the fingers. It is also used for identifying friction between the fingers and a grasped object and regulating the grasp force accordingly. Humans are endowed with multiple types of mechanoreceptors capable of detecting dynamic events with frequencies in the tens or hundreds of Hz. Increasingly, robots are also being equipped with tactile sensors capable of detecting dynamic phenomena, using a variety of different transducers depending on application-specific design considerations. Advances in electronics have made it possible to do the requisite amplification, signal processing and communication within the hand, with improved performance and greatly reduced wiring in comparison to early efforts.

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The induced vibration touch sensor – a new dynamic touch sensing concept

Cited by 36 publications

References 6 publications

Development of artificial finger skin to detect incipient slip for realization of static friction sensation

Development of artificial finger skin to detect incipient slip for realization of static friction sensation

A first approach to tactile texture recognition

Dynamic Tactile Sensing

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