Dynamic contact sensing of soft planar fingers with tactile sensors

2002 ◽  
Author(s):  
G. Kinoshita ◽  
Y. Kurimoto ◽  
H. Osumi ◽  
K. Umeda
Keyword(s):  
Dynamic Contact ◽  
Tactile Sensors ◽  
Contact Sensing

scholarly journals Design of a Sensitive Balloon Sensor for Safe Human–Robot Interaction

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2163
Author(s):  
Dongjin Kim ◽  
Seungyong Han ◽  
Taewi Kim ◽  
Changhwan Kim ◽  
Doohoe Lee ◽  
...  
Keyword(s):  
High Performance ◽  
Strain Sensor ◽  
High Sensitivity ◽  
Human Robot Interaction ◽  
Large Area ◽  
Tactile Sensors ◽  
Robot Interaction ◽  
Mechanical Crack ◽  
Flexible Strain Sensor ◽  
Contact Sensing

As the safety of a human body is the main priority while interacting with robots, the field of tactile sensors has expanded for acquiring tactile information and ensuring safe human–robot interaction (HRI). Existing lightweight and thin tactile sensors exhibit high performance in detecting their surroundings. However, unexpected collisions caused by malfunctions or sudden external collisions can still cause injuries to rigid robots with thin tactile sensors. In this study, we present a sensitive balloon sensor for contact sensing and alleviating physical collisions over a large area of rigid robots. The balloon sensor is a pressure sensor composed of an inflatable body of low-density polyethylene (LDPE), and a highly sensitive and flexible strain sensor laminated onto it. The mechanical crack-based strain sensor with high sensitivity enables the detection of extremely small changes in the strain of the balloon. Adjusting the geometric parameters of the balloon allows for a large and easily customizable sensing area. The weight of the balloon sensor was approximately 2 g. The sensor is employed with a servo motor and detects a finger or a sheet of rolled paper gently touching it, without being damaged.

scholarly journals Artificial Finger Skin having Ridges and Distributed Tactile Sensors used for Grasp Force Control

2002 ◽  
Vol 14 (2) ◽  
pp. 140-146 ◽  
Author(s):  
Daisuke Yamada ◽  
◽  
Takashi Maeno ◽  
Yoji Yamada ◽  
Keyword(s):  
Reaction Force ◽  
Frictional Coefficient ◽  
Dynamic Contact ◽  
Fe Model ◽  
Tactile Sensors ◽  
Fe Method ◽  
Stick Slip ◽  
Grasping Force ◽  
Grasp Force ◽  
Finger Skin

An artificial elastic finger skin for robot fingers has been developed for controlling grasp force when weight and frictional coefficient of the grasped object are unknown. The elastic finger skin has ridges at the surface to divide the stick/slip area. It also has a pair of tactile sensors embedded per ridge similar to human fingertips. The surface of the whole finger is curved so that reaction force distributes. A Finite Element (FE) model of the elastic finger skin was made to conduct dynamic contact analysis using a FE method to design the elastic finger skin in detail. Then the elastic finger skin was made. We confirmed by calculation and experiment that incipient slippage of the ridge occurring near the edge of contact is detected. Then, grasp was controlled using the finger. Arbitrary objects were lifted by incipient slippage near the edge of contact. We found that artificial finger skin is useful for controlling grasping force when the weight and friction coefficient between the elastic finger skin and grasping object are unknown.

Tactile sensing for surgical and collaborative robots and robotic grippers

2019 ◽  
Vol 46 (1) ◽  
pp. 1-6
Author(s):  
Robert Bogue
Keyword(s):  
Haptic Feedback ◽  
Research Effort ◽  
Physical Contact ◽  
Tactile Sensing ◽  
Tactile Sensors ◽  
Surgical Robots ◽  
Collaborative Robots ◽  
Content Type ◽  
Sensing Applications ◽  
Contact Sensing

Purpose This paper aims to illustrate the increasingly important role played by tactile sensing in robotics by considering three specific fields of application. Design/methodology/approach Following a short introduction, this paper first provides details of tactile sensing principles, technologies, products and research. The following sections consider tactile sensing applications in robotic surgery, collaborative robots and robotic grippers. Finally, brief conclusions are drawn. Findings Tactile sensors are the topic of an extensive and technologically diverse research effort, with sensing skins attracting particular attention. Many products are now available commercially. New generations of surgical robots are emerging which use tactile sensing to provide haptic feedback, thereby eliminating the surgeon’s total reliance on visual control. Many collaborative robots use tactile and proximity sensing as key safety mechanisms and some use sensing skins. Some skins can detect both human proximity and physical contact. Sensing skins that can be retrofitted have been developed. Commercial tactile sensors have been incorporated into robotic grippers, notably anthropomorphic types, and allow the handling of delicate objects and those with varying shapes and sizes. Tactile sensing uses will inevitably increase because of the ever-growing numbers of robots interacting with humans. Originality/value This study provides a detailed account of the growing use of tactile sensing in robotics in three key areas of application.

Dynamic contact sensing by flexible beam

1998 ◽  
Vol 3 (4) ◽  
pp. 254-264 ◽  
Author(s):  
N. Ueno ◽  
M.M. Svinin ◽  
M. Kaneko
Keyword(s):  
Dynamic Contact ◽  
Flexible Beam ◽  
Contact Sensing

Investigation of behavior of the dynamic contact angle in a problem of convective flows

2017 ◽  
Vol 5 (4) ◽  
pp. 27-42
Author(s):  
O.N Goncharova ◽  
◽  
I.V. Marchuk ◽  
A.V. Zakurdaeva ◽  
◽  
...  
Keyword(s):  
Contact Angle ◽  
Dynamic Contact Angle ◽  
Dynamic Contact ◽  
Convective Flows

Design and Experiment of Flexible Multi-Functional Tactile Sensors for Robot Skin

ROBOT ◽  
2011 ◽  
Vol 33 (3) ◽  
pp. 347-353 ◽  
Author(s):  
Ying HUANG ◽  
Wei LU ◽  
Xiaowen ZHAO ◽  
Chao LIAN ◽  
Yunjian GE
Keyword(s):  
Tactile Sensors ◽  
Robot Skin

Pressure Measurement of Planing Hull Stern Bottom by Tactile Sensors

2018 ◽  
Vol 55 (5) ◽  
pp. 431-437
Author(s):  
Sae Yong Park ◽  
Jong Yeol Park ◽  
Shin Hyung Lee ◽  
Dong Jin Kim
Keyword(s):  
Pressure Measurement ◽  
Tactile Sensors
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