A New Highly Sensitive Dielectric Slip Detection Sensor for a Robotic Operation

2017 ◽  
Author(s):  
Sung Joon Kim ◽  
Ja Choon Koo
Keyword(s):  
Tactile Sensor ◽  
Relative Displacement ◽  
Large Area ◽  
Tactile Sensors ◽  
Post Process ◽  
Highly Sensitive ◽  
Grasping And Manipulation ◽  
Working Principle ◽  
Slip Detection

For dexterous grasping and manipulation, tactile sensors recognizing contact object are essential. Electronic skin (E-skin) with tactile sensors plays a role as both receiving information for grasping and protecting robot frame. This paper presents a polymer tactile sensor covering large area to fulfill role of E-skin. The sensor has a thin air gap between polymer layers and it is deformed reacting slip input. When slip is occurred, there is relative displacement between surrounding layer and it incurs change of electrode separation. NBR is used to sensor substrate because of its tough and flexible characteristic. Ultrathin aluminum tape is employed for electrodes. There is a changeability of size of the sensor because of its simple but effective working principle and structure. Slip detecting algorithm doesn’t have a post process such as FFT or DWT, so there isn’t delay for processing time. It realizes real-time slip detection reducing reaction time of robot hand.

A Flexible Tactile Sensor Based on Porous Graphene Sponge for Tiny Force Measurement

2018 ◽  
Author(s):  
Lingfeng Zhu ◽  
Yancheng Wang ◽  
Xin Wu ◽  
Deqing Mei
Keyword(s):  
Force Measurement ◽  
High Sensitivity ◽  
Tactile Sensor ◽  
Tactile Sensors ◽  
Force Detection ◽  
Pressure Sensing ◽  
Porous Graphene ◽  
Graphene Sponge ◽  
Healthcare Monitoring ◽  
Working Principle

Flexible tactile sensors have been utilized for epidermal pressure sensing, motion detecting, and healthcare monitoring in robotic and biomedical applications. This paper develops a novel piezoresistive flexible tactile sensor based on porous graphene sponges. The structural design, working principle, and fabrication method of the tactile sensor are presented. The developed tactile sensor has 3 × 3 sensing units and has a spatial resolution of 3.5 mm. Then, experimental setup and characterization of this tactile sensor are conducted. Results indicated that the developed flexible tactile sensor has good linearity and features two sensitivities of 2.08 V/N and 0.68 V/N. The high sensitivity can be used for tiny force detection. Human body wearing experiments demonstrated that this sensor can be used for distributed force sensing when the hand stretches and clenches. Thus the developed tactile sensor may have great potential in the applications of intelligent robotics and healthcare monitoring.

Highly sensitive capacitive flexible 3D-force tactile sensors for robotic grasping and manipulation

2020 ◽  
Vol 53 (44) ◽  
pp. 445109
Author(s):  
Tianyang Yao ◽  
Xiaohui Guo ◽  
Cuicui Li ◽  
Haiqiang Qi ◽  
Huai Lin ◽  
...  
Keyword(s):  
Robotic Grasping ◽  
Tactile Sensors ◽  
Highly Sensitive ◽  
Grasping And Manipulation

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.

scholarly journals Highly Sensitive Humidity Sensor Based on Oblique Carbon Nanoplumes

Sensors ◽  
2018 ◽  
Vol 18 (10) ◽  
pp. 3407 ◽  
Author(s):  
Siqi Qiao ◽  
Xiaoyan Peng ◽  
Lidan Wang ◽  
Shukai Duan ◽  
Jin Chu ◽  
...  
Keyword(s):  
Physical Vapor Deposition ◽  
Oblique Angle Deposition ◽  
Large Area ◽  
Response Recovery ◽  
Defect Sites ◽  
Highly Sensitive ◽  
Different Temperatures ◽  
Hot Filament ◽  
Angle Deposition

In this work, we fabricated three carbon nanoplume structured samples under different temperatures using a simple hot filament physical vapor deposition (HFPVD) process, and investigated the role of surface morphology, defects, and graphitic content on relative humidity (RH) sensing performances. The Van der Drift growth model and oblique angle deposition (OAD) technique of growing a large area of uniformly aligned and inclined oblique arrays of carbon nanoplumes (CNPs) on a catalyst-free silicon substrate was demonstrated. The optimal growing temperature of 800 °C was suitable for the formation of nanoplumes with larger surface area, more defect sites, and less graphitic content, compared to the other samples that were prepared. As expected, a low detection limit, high response, capability of reversible behavior, and rapid response/recovery speed with respect to RH variation, was achieved without additional surface modification or chemical functionalization. The holes’ depletion has been described as a RH sensing mechanism that leads to the increase of the conduction of the CNPs with increasing RH levels.

scholarly journals Magnetic-based Soft Tactile Sensors with Deformable Continuous Force Transfer Medium for Resolving Contact Locations in Robotic Grasping and Manipulation

Sensors ◽  
2019 ◽  
Vol 19 (22) ◽  
pp. 4925 ◽  
Author(s):  
Alireza Mohammadi ◽  
Yangmengfei Xu ◽  
Ying Tan ◽  
Peter Choong ◽  
Denny Oetomo
Keyword(s):  
Contact Force ◽  
Learning Algorithm ◽  
Design Procedure ◽  
Tactile Sensor ◽  
Design Parameters ◽  
Robotic Hand ◽  
Tactile Sensors ◽  
Hall Effect Sensor ◽  
Grasping And Manipulation ◽  
Sensor Configuration

The resolution of contact location is important in many applications in robotics and automation. This is generally done by using an array of contact or tactile receptors, which increases cost and complexity as the required resolution or area is increased. Tactile sensors have also been developed using a continuous deformable medium between the contact and the receptors, which allows few receptors to interpolate the information among them, avoiding the weakness highlighted in the former approach. The latter is generally used to measure contact force intensity or magnitude but rarely used to identify the contact locations. This paper presents a systematic design and characterisation procedure for magnetic-based soft tactile sensors (utilizing the latter approach with the deformable contact medium) with the goal of locating the contact force location. This systematic procedure provides conditions under which design parameters can be selected, supported by a selected machine learning algorithm, to achieve the desired performance of the tactile sensor in identifying the contact location. An illustrative example, which combines a particular sensor configuration (magnetic hall effect sensor as the receptor, a selected continuous medium and a selected sensing resolution) and a specific data-driven algorithm, is used to illustrate the proposed design procedure. The results of the illustrative example design demonstrates the efficacy of the proposed design procedure and the proposed sensing strategy in identifying a contact location. The resulting sensor is also tested on a robotic hand (Allegro Hand, SimLab Co) to demonstrate its application in real-world scenarios.

scholarly journals Using Tactile Sensing to Improve the Sample Efficiency and Performance of Deep Deterministic Policy Gradients for Simulated In-Hand Manipulation Tasks

2021 ◽  
Vol 8 ◽  
Author(s):  
Andrew Melnik ◽  
Luca Lach ◽  
Matthias Plappert ◽  
Timo Korthals ◽  
Robert Haschke ◽  
...  
Keyword(s):  
Ground Truth ◽  
Tactile Sensor ◽  
Limiting Factors ◽  
Tactile Sensors ◽  
Tactile Information ◽  
Touch Sensor ◽  
Learning Techniques ◽  
Dexterous Hand ◽  
And Performance

Deep Reinforcement Learning techniques demonstrate advances in the domain of robotics. One of the limiting factors is a large number of interaction samples usually required for training in simulated and real-world environments. In this work, we demonstrate for a set of simulated dexterous in-hand object manipulation tasks that tactile information can substantially increase sample efficiency for training (by up to more than threefold). We also observe an improvement in performance (up to 46%) after adding tactile information. To examine the role of tactile-sensor parameters in these improvements, we included experiments with varied sensor-measurement accuracy (ground truth continuous values, noisy continuous values, Boolean values), and varied spatial resolution of the tactile sensors (927 sensors, 92 sensors, and 16 pooled sensor areas in the hand). To facilitate further studies and comparisons, we make these touch-sensor extensions available as a part of the OpenAI Gym Shadow-Dexterous-Hand robotics environments.

Tactile Behaviors with the Vision-Based Tactile Sensor FingerVision

2019 ◽  
Vol 16 (03) ◽  
pp. 1940002 ◽  
Author(s):  
Akihiko Yamaguchi ◽  
Christopher G. Atkeson
Keyword(s):  
Computer Vision ◽  
High Resolution ◽  
Contact Force ◽  
Low Cost ◽  
Tactile Sensor ◽  
Tactile Sensors ◽  
Elastic Skin ◽  
Slip Detection

This paper introduces a vision-based tactile sensor FingerVision, and explores its usefulness in tactile behaviors. FingerVision consists of a transparent elastic skin marked with dots, and a camera that is easy to fabricate, low cost, and physically robust. Unlike other vision-based tactile sensors, the complete transparency of the FingerVision skin provides multimodal sensation. The modalities sensed by FingerVision include distributions of force and slip, and object information such as distance, location, pose, size, shape, and texture. The slip detection is very sensitive since it is obtained by computer vision directly applied to the output from the FingerVision camera. It provides high-resolution slip detection, which does not depend on the contact force, i.e., it can sense slip of a lightweight object that generates negligible contact force. The tactile behaviors explored in this paper include manipulations that utilize this feature. For example, we demonstrate that grasp adaptation with FingerVision can grasp origami, and other deformable and fragile objects such as vegetables, fruits, and raw eggs.

scholarly journals A Sensitive Piezoresistive Tactile Sensor Combining Two Microstructures

Nanomaterials ◽  
2019 ◽  
Vol 9 (5) ◽  
pp. 779 ◽  
Author(s):  
Xuguang Sun ◽  
Jianhai Sun ◽  
Shuaikang Zheng ◽  
Chunkai Wang ◽  
Wenshuo Tan ◽  
...  
Keyword(s):  
Low Cost ◽  
Body Movement ◽  
High Sensitivity ◽  
Tactile Sensor ◽  
Tactile Sensors ◽  
Electronic Skin ◽  
Highly Sensitive ◽  
Monitoring Applications ◽  
Monitoring Application ◽  
Fast Dynamic

A tactile sensor is an indispensable component for electronic skin, mimicking the sensing function of organism skin. Various sensing materials and microstructures have been adopted in the fabrication of tactile sensors. Herein, we propose a highly sensitive flexible tactile sensor composed of nanocomposites with pyramid and irregularly rough microstructures and implement a comparison of piezoresistive properties of nanocomposites with varying weight proportions of multi-wall nanotubes and carbon black particles. In addition to the simple and low-cost fabrication method, the tactile sensor can reach high sensitivity of 3.2 kPa−1 in the range of <1 kPa and fast dynamic response of 217 ms (loading) and 81 ms (recovery) at 40 kPa pressure. Moreover, body movement monitoring applications have been carried out utilizing the flexible tactile sensor. A sound monitoring application further indicates the potential for applications in electronic skin, human–computer interaction, and physiological detection.

Highly sensitive adolescent benefits in positive school transitions: Evidence for vantage sensitivity in Japanese high-schoolers

2020 ◽  
Author(s):  
Shuhei Iimura
Keyword(s):  
High School ◽  
Statistical Power ◽  
Environmental Influences ◽  
Differential Susceptibility ◽  
School Transition ◽  
Well Being ◽  
Crossover Point ◽  
Japanese Adolescents ◽  
Highly Sensitive

Some researchers indicate that the transition to high school deflects adolescent developmental trajectories. Others assert it provides a new possibility for the promotion of adolescents’ socioemotional well-being. One critical view missing in such claims is that individual variabilities interact with environmental influences. We employed the framework of Differential Susceptibility Theory, which postulates that individual susceptibilities moderate external influences for better and for worse. In order to clarify the mechanism of adolescents’ differential adjustments, this paper investigated the role of sensory-processing sensitivity using the Japanese version of Highly Sensitive Child Scale for Adolescence (J-HSCS), and tested whether the diathesis-stress model or the differential susceptibility model best describes students’ socioemotional adjustment across their high school transition. The current paper used the two-wave data collected from Japanese adolescents aged from 14 to 15 years (n = 412, 50% girls). In Study 1, we investigated the replicability of psychometric properties of J-HSCS. The results supported previous findings, indicating its validity for the bifactor model. In Study 2, we utilized confirmatory competitive model testing, which maximizes statistical power by parameterizing the crossover point to allow a direct comparison of alternative models. The results indicated that neither the diathesis-stress nor the differential susceptibility models fitted the data. Rather, a strong vantage sensitivity model was revealed, suggesting that highly susceptible adolescents disproportionately benefitted from a positive school transition over their counterparts. This finding signified the role of adolescents’ sensitivity to environmental influences and the importance of considering its moderation under person x environment interactions.

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