Detection of Slippage Using Flexible Tactile Sensor for a Robot Fingertip

2016 ◽  
Author(s):  
Sung Joon Kim ◽  
Jae Young Choi ◽  
Hyung Pil Moon ◽  
Hyouk Ryeol Choi ◽  
Ja Choon Koo
Keyword(s):  
Flexible Substrate ◽  
Tactile Sensor ◽  
Fatigue Tests ◽  
Butadiene Rubber ◽  
Robot Hand ◽  
Complicated Structure ◽  
Resistance Change ◽  
Sensor Structure ◽  
Small Structure ◽  
Graphene Material

Tactile sensor for detecting slip is essential to grasp an object safely in a robot hand with a complicated structure and various functions. In this paper, sensors with three patterns in different forms are designed to sense slip moment through a resistance change. The slip sensors developed in this paper have flexible and stretchable characteristics to be used on the robot hand surface. For realizing these characteristics, acrylonitrile-butadiene rubber (NBR) is used as a substrate of the sensor. Graphene material is employed bacause of suitable for flexible substrate as an electrode. An imprint process to produce a micro-unit sensor structure is newly developed. As a result, sensors can have an extremely small structure like human fingerprint. Experiments for performance of the developed sensors are conducted. In addition, a stretchable and fatigue tests are conducted to verify the performance of sensors with a flexible characteristic like the human skin.

A Flexible Tactile Capacitive Sensor for Slip Detection

2011 ◽  
Author(s):  
Jinah Chung ◽  
Baek-chul Kim ◽  
H. R. Choi ◽  
H. P. Moon ◽  
Y. K. Lee ◽  
...  
Keyword(s):  
Tactile Sensor ◽  
Capacitive Sensor ◽  
Robot Hand ◽  
Sensor Device ◽  
Sensor Structure ◽  
Slip Sensor ◽  
Slip Detection

A tactile sensor for slip detection is necessary for humanlike grasping in robot hand. This paper reports a capacitive tactile slip sensor that can detect slip on the surface of the sensor structure. The newly developed capacitive slip sensor uses acrlyro-nitrile butadien rubber (NBR) as substrate. The presented sensor device in this paper has fingerprint -like structures that are similar with the role of the human’s fingerprint. Movement of the structure that attached on surface of substrate arise capacitance changes, and these are used to detect slip. We carried out slip experiment by prototype of capacitive slip sensor and slip was successfully detected.

Electrical Failure and Damage Analysis of Multi-Layer Metal Films on Flexible Substrate during Cyclic Bending Deformation

2011 ◽  
Author(s):  
Byoung-Joon Kim ◽  
Hae-A-Seul Shin ◽  
In-Suk Choi ◽  
Young-Chang Joo
Keyword(s):  
Fatigue Resistance ◽  
Electrical Resistance ◽  
Metal Film ◽  
Flexible Substrate ◽  
Resistance Change ◽  
Cyclic Bending ◽  
Capping Layer ◽  
Bending Strain ◽  
Cu Film ◽  
Electrical Resistance Change

Abstract The electrical resistance Cu film on flexible substrate was investigated in cyclic bending deformation. The electrical resistance of 1 µm thick Cu film on flexible substrate increased up to 120 % after 500,000 cycles in 1.1 % tensile bending strain. Crack and extrusion were observed due to the fatigue damage of metal film. Low bending strain did not cause any damage on metal film but higher bending strain resulted in severe electrical and mechanical damage. Thinner film showed higher fatigue resistance because of the better mechanical property of thin film. Cu film with NiCr under-layer showed poorer fatigue resistance in tensile bending mode. Ni capping layer did not improve the fatigue resistance of Cu film, but Al capping layer suppressed crack formation and lowered electrical resistance change. The NiCr under layer, Ni capping layer, and Al capping layer effect on electrical resistance change of Cu film was compared with Cu only sample.

scholarly journals Grasping Force Control of Multi-fingered Robot Hand based on Slip Detection Using Tactile Sensor

2007 ◽  
Vol 25 (6) ◽  
pp. 970-978 ◽  
Author(s):  
Daisuke Gunji ◽  
Takuma Araki ◽  
Akio Namiki ◽  
Aiguo Ming ◽  
Makoto Shimojo
Keyword(s):  
Force Control ◽  
Tactile Sensor ◽  
Robot Hand ◽  
Grasping Force ◽  
Slip Detection

scholarly journals Artificial Tactile Sensor Structure for Surface Topography Through Sliding

2018 ◽  
Vol 23 (6) ◽  
pp. 2638-2649 ◽  
Author(s):  
Kwonsik Shin ◽  
Minkyung Sim ◽  
Eunmin Choi ◽  
Hyunchul Park ◽  
Ji-Woong Choi ◽  
...  
Keyword(s):  
Surface Topography ◽  
Tactile Sensor ◽  
Sensor Structure

scholarly journals Tactile Slippage Analysis in Optical Three-Axis Tactile Sensor for Robotic Hand

2013 ◽  
Vol 465-466 ◽  
pp. 1375-1379
Author(s):  
Hanafiah Yussof ◽  
Zahari Nur Ismarrubie ◽  
Ahmad Khushairy Makhtar ◽  
Masahiro Ohka ◽  
Siti Nora Basir
Keyword(s):  
Control Algorithm ◽  
Tactile Sensor ◽  
Robotic Hand ◽  
Robot Hand ◽  
Robot Arm ◽  
Tactile Sensors ◽  
Shear Forces ◽  
Improve Performance ◽  
Robot Arm Control ◽  
Two Phases

This paper presents experimental results of object handling motions to evaluate tactile slippage sensation in a multi fingered robot arm with optical three-axis tactile sensors installed on its two hands. The optical three-axis tactile sensor is a type of tactile sensor capable of defining normal and shear forces simultaneously. Shear force distribution is used to define slippage sensation in the robot hand system. Based on tactile slippage analysis, a new control algorithm was proposed. To improve performance during object handling motions, analysis of slippage direction is conducted. The control algorithm is classified into two phases: grasp-move-release and grasp-twist motions. Detailed explanations of the control algorithm based on the existing robot arm control system are presented. The experiment is conducted using a bottle cap, and the results reveal good performance of the proposed control algorithm to accomplish the proposed object handling motions.

Micro Capacitive Tactile Sensor for Contact Loads

2008 ◽  
Vol 33-37 ◽  
pp. 931-936 ◽  
Author(s):  
Chieh Tang Chuang ◽  
Rong Shun Chen
Keyword(s):  
High Sensitivity ◽  
Tactile Sensor ◽  
Force Transmission ◽  
Element Analysis ◽  
Deep Reactive Ion Etching ◽  
Normal Forces ◽  
Contact Loads ◽  
Capacitance Variation ◽  
Sensor Structure ◽  
The Finite Element Analysis

This paper presents a high sensitivity micro capacitive tactile sensor that can detect normal forces which is fabricated using deep reactive ion etching (DRIE) bulk silicon micromachining. The tactile sensor consists of a force transmission plate, a symmetric suspension system, and comb electrodes. The sensing character is based on the changes of capacitance between coplanar sense electrodes and it can reach the aim of large sensing range. High sensitivity is achieved by using the high aspect ratio comb electrodes with narrow comb gaps and large overlap areas. In this paper, the sensor structure is designed, the capacitance variation of the proposed device is analyzed, and the finite element analysis of mechanical behavior of the structures is performed.

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