Predicting human touch sensitivity to single atom substitutions in surface monolayers for molecular control in tactile interfaces

Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review

10.36227/techrxiv.14703051.v1 ◽

2021 ◽

Author(s):

Nathan Lepora

Keyword(s):

Tactile Sensor ◽

Step Change ◽

Tactile Sensors ◽

The Past ◽

Robot Hands ◽

Human Touch ◽

Skin Morphology ◽

Sense Of Touch ◽

And Control ◽

Human Sense

<div>Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robotic technologies will be needed, including soft robotics, biomimetics and the high-resolution sensing offered by optical tactile sensors. This combination is considered here as a SoftBOT (Soft Biomimetic Optical Tactile) sensor. This article reviews the BRL TacTip as a prototypical example of such a sensor. Topics include the relation between artificial skin morphology and the transduction principles of human touch, the nature and benefits of tactile shear sensing, 3D printing for fabrication and integration into robot hands, the application of AI to tactile perception and control, and the recent step-change in capabilities due to deep learning. This review consolidates those advances from the past decade to indicate a path for robots to reach human-like dexterity.</div><div><br></div>

Download Full-text

Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review

10.36227/techrxiv.14703051 ◽

2021 ◽

Author(s):

Nathan Lepora

Keyword(s):

Tactile Sensor ◽

Step Change ◽

Tactile Sensors ◽

The Past ◽

Robot Hands ◽

Human Touch ◽

Skin Morphology ◽

Sense Of Touch ◽

And Control ◽

Human Sense

<div>Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robotic technologies will be needed, including soft robotics, biomimetics and the high-resolution sensing offered by optical tactile sensors. This combination is considered here as a SoftBOT (Soft Biomimetic Optical Tactile) sensor. This article reviews the BRL TacTip as a prototypical example of such a sensor. Topics include the relation between artificial skin morphology and the transduction principles of human touch, the nature and benefits of tactile shear sensing, 3D printing for fabrication and integration into robot hands, the application of AI to tactile perception and control, and the recent step-change in capabilities due to deep learning. This review consolidates those advances from the past decade to indicate a path for robots to reach human-like dexterity.</div><div><br></div>

Download Full-text

Single Atom Image Contrast in Fixed Beam Dark Field Electron Microscopy

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s0424820100051840 ◽

1974 ◽

Vol 32 ◽

pp. 366-367

Author(s):

Wah Chi

Keyword(s):

Scattering Amplitude ◽

Present Report ◽

Dark Field ◽

Image Contrast ◽

Single Atom ◽

Optical Theorem ◽

Hartree Fock ◽

Heavy Atoms ◽

Beam Stop ◽

Fixed Beam

Resolution and contrast are the important factors to determine the feasibility of imaging single heavy atoms on a thin substrate in an electron microscope. The present report compares the atom image characteristics in different modes of fixed beam dark field microscopy including the ideal beam stop (IBS), a wire beam stop (WBS), tilted illumination (Tl) and a displaced aperture (DA). Image contrast between one Hg and a column of linearly aligned carbon atoms (representing the substrate), are also discussed. The assumptions in the present calculations are perfectly coherent illumination, atom object is represented by spherically symmetric potential derived from Relativistic Hartree Fock Slater wave functions, phase grating approximation is used to evaluate the complex scattering amplitude, inelastic scattering is ignored, phase distortion is solely due to defocus and spherical abberation, and total elastic scattering cross section is evaluated by the Optical Theorem. The atom image intensities are presented in a Z-modulation display, and the details of calculation are described elsewhere.

Download Full-text

Atomic Spectroscopy in the FIM

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s0424820100145157 ◽

1986 ◽

Vol 44 ◽

pp. 758-761

Author(s):

J. J. Hren ◽

S. D. Walck

Keyword(s):

Electron Microscope ◽

Electric Fields ◽

Atom Probe ◽

Atomic Spectroscopy ◽

Single Atom ◽

Statistical Sampling ◽

Commercial Instrument ◽

Available Technology ◽

High Electric Fields ◽

Field Ion Microscope

The field ion microscope (FIM) has had the ability to routinely image the surface atoms of metals since Mueller perfected it in 1956. Since 1967, the TOF Atom Probe has had single atom sensitivity in conjunction with the FIM. “Why then hasn't the FIM enjoyed the success of the electron microscope?” The answer is closely related to the evolution of FIM/Atom Probe techniques and the available technology. This paper will review this evolution from Mueller's early discoveries, to the development of a viable commercial instrument. It will touch upon some important contributions of individuals and groups, but will not attempt to be all inclusive. Variations in instrumentation that define the class of problems for which the FIM/AP is uniquely suited and those for which it is not will be described. The influence of high electric fields inherent to the technique on the specimens studied will also be discussed. The specimen geometry as it relates to preparation, statistical sampling and compatibility with the TEM will be examined.

Download Full-text

Field ion microscope investigations of atomic processes at surfaces

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s0424820100153117 ◽

1989 ◽

Vol 47 ◽

pp. 228-229

Author(s):

G. L. Kellogg ◽

P. R. Schwoebel

Keyword(s):

Single Crystal ◽

Crystal Surface ◽

Linear Chain ◽

Atom Probe ◽

Nucleation And Growth ◽

Single Atom ◽

Initial Structure ◽

Atomic Processes ◽

Single Crystal Surfaces ◽

Field Ion Microscope

Although no longer unique in its ability to resolve individual single atoms on surfaces, the field ion microscope remains a powerful tool for the quantitative characterization of atomic processes on single-crystal surfaces. Investigations of single-atom surface diffusion, adatom-adatom interactions, surface reconstructions, cluster nucleation and growth, and a variety of surface chemical reactions have provided new insights to the atomic nature of surfaces. Moreover, the ability to determine the chemical identity of selected atoms seen in the field ion microscope image by atom-probe mass spectroscopy has increased or even changed our understanding of solid-state-reaction processes such as ordering, clustering, precipitation and segregation in alloys. This presentation focuses on the operational principles of the field-ion microscope and atom-probe mass spectrometer and some very recent applications of the field ion microscope to the nucleation and growth of metal clusters on metal surfaces.The structure assumed by clusters of atoms on a single-crystal surface yields fundamental information on the adatom-adatom interactions important in crystal growth. It was discovered in previous investigations with the field ion microscope that, contrary to intuition, the initial structure of clusters of Pt, Pd, Ir and Ni atoms on W(110) is a linear chain oriented in the <111> direction of the substrate.

Download Full-text

Journal of Materials Chemistry B

10.1039/2050-7518/2013 ◽

2013 ◽

Keyword(s):

Materials Chemistry

Download Full-text

Recent advancement in the electrocatalytic synthesis of ammonia

Nanoscale ◽

10.1039/d0nr01359e ◽

2020 ◽

Vol 12 (15) ◽

pp. 8065-8094 ◽

Cited By ~ 6

Author(s):

Xudong Wen ◽

Jingqi Guan

Keyword(s):

Metal Oxide ◽

Oxide Catalysts ◽

Single Atom ◽

Metal Oxide Catalysts ◽

Metal Free ◽

Recent Advancement ◽

Nanocomposite Catalysts

Different kinds of electrocatalysts used in NRR electrocatalysis (including single atom catalysts, metal oxide catalysts, nanocomposite catalysts, and metal free catalysts) are introduced.

Download Full-text