scholarly journals Artificial Skin Tactile Sensor For Prosthetic and Robotic Applications

2010 ◽  
Author(s):  
Ross James Miller
Keyword(s):  
Tactile Sensor ◽  
Artificial Skin ◽  
Robotic Applications

scholarly journals Design and Calibration of a Force/Tactile Sensor for Dexterous Manipulation

Sensors ◽  
2019 ◽  
Vol 19 (4) ◽  
pp. 966 ◽  
Author(s):  
Marco Costanzo ◽  
Giuseppe De Maria ◽  
Ciro Natale ◽  
Salvatore Pirozzi
Keyword(s):  
Experimental Validation ◽  
Sensory System ◽  
Tactile Sensor ◽  
Contact Forces ◽  
Dexterous Manipulation ◽  
Soft Contact ◽  
Grasping Force ◽  
Sense Of Touch ◽  
Human Sense ◽  
Robotic Applications

This paper presents the design and calibration of a new force/tactile sensor for robotic applications. The sensor is suitably designed to provide the robotic grasping device with a sensory system mimicking the human sense of touch, namely, a device sensitive to contact forces, object slip and object geometry. This type of perception information is of paramount importance not only in dexterous manipulation but even in simple grasping tasks, especially when objects are fragile, such that only a minimum amount of grasping force can be applied to hold the object without damaging it. Moreover, sensing only forces and not moments can be very limiting to securely grasp an object when it is grasped far from its center of gravity. Therefore, the perception of torsional moments is a key requirement of the designed sensor. Furthermore, the sensor is also the mechanical interface between the gripper and the manipulated object, therefore its design should consider also the requirements for a correct holding of the object. The most relevant of such requirements is the necessity to hold a torsional moment, therefore a soft distributed contact is necessary. The presence of a soft contact poses a number of challenges in the calibration of the sensor, and that is another contribution of this work. Experimental validation is provided in real grasping tasks with two sensors mounted on an industrial gripper.

scholarly journals Structural design and output characteristic analysis of magnetostrictive tactile sensor for robotic applications

AIP Advances ◽  
2018 ◽  
Vol 8 (5) ◽  
pp. 056622 ◽  
Author(s):  
Wendong Zheng ◽  
Bowen Wang ◽  
Huaping Liu ◽  
Yunkai Li ◽  
Ran Zhao ◽  
...  
Keyword(s):  
Structural Design ◽  
Tactile Sensor ◽  
Output Characteristic ◽  
Characteristic Analysis ◽  
Robotic Applications

Force/tactile sensor for robotic applications

2012 ◽  
Vol 175 ◽  
pp. 60-72 ◽  
Author(s):  
G. De Maria ◽  
C. Natale ◽  
S. Pirozzi
Keyword(s):  
Tactile Sensor ◽  
Robotic Applications

Nonparametric Object Recognition With a New Tactile Sensor

1992 ◽  
Author(s):  
S. Unsal ◽  
A. Shirkhodaie ◽  
A. H. Soni
Keyword(s):  
Decision Making ◽  
Object Recognition ◽  
Sensory Information ◽  
Tactile Sensor ◽  
Operating Environment ◽  
Tactile Sensors ◽  
Binary Array ◽  
Software And Hardware ◽  
Robotic Applications

Abstract Adding sensing capability to a robot provides the robot with intelligent perception capability and flexibility of decision making. To perform intelligent tasks, robots are highly required to perceive their operating environment, and react accordingly. With this regard, tactile sensors offer to extend the scope of intelligence of a robot for performing tasks which require object touching, recognition, and manipulation. This paper presents the design of an inexpensive pneumatic binary-array tactile sensor for such robotic applications. The paper describes some of the techniques implemented for object recognition from binary sensory information. Furthermore, it details the development of software and hardware which facilitate the sensor to provide useful information to a robot so that the robot perceives its operating environment during manipulation of objects.

scholarly journals A Bio-Hybrid Tactile Sensor Incorporating Living Artificial Skin and an Impedance Sensing Array

Sensors ◽  
2014 ◽  
Vol 14 (12) ◽  
pp. 23781-23802 ◽  
Author(s):  
David Cheneler ◽  
Elisa Buselli ◽  
Domenico Camboni ◽  
Carl Anthony ◽  
Liam Grover ◽  
...  
Keyword(s):  
Tactile Sensor ◽  
Artificial Skin ◽  
Impedance Sensing

An Endoscopic and Robotic Tooth-like Compliance and Roughness Tactile Sensor

2002 ◽  
Vol 124 (3) ◽  
pp. 576-582 ◽  
Author(s):  
J. Dargahi
Keyword(s):  
Surface Roughness ◽  
Theoretical Analysis ◽  
Rough Surface ◽  
Polyvinylidene Fluoride ◽  
Tactile Sensor ◽  
Relative Deformation ◽  
End Effectors ◽  
Experimental Values ◽  
Robotic Applications

This paper reports on design, fabrication and testing of a prototype Polyvinylidene Fluoride (PVDF) tactile sensor for endoscopic and robotic applications. The sensor can measure both compliance and surface roughness. It consists of rigid and compliant elements. A relative deformation between adjacent parts of the contact object is used to measure the compliance, and the deformation of the compliant element of the sensor is used to measure the profile of a rough surface. The sensor in miniaturized form can be integrated with both endoscopic graspers and robotic end effectors. The theoretical analysis of the sensor is made and compared with experimental values. The advantages and limitations of the sensor are also discussed.

scholarly journals Design of a Force/Tactile Sensor for Robotic Grippers

Proceedings ◽  
2019 ◽  
Vol 15 (1) ◽  
pp. 31
Author(s):  
Marco Costanzo ◽  
Giuseppe De Maria ◽  
Ciro Natale ◽  
Salvatore Pirozzi
Keyword(s):  
Sensory System ◽  
Tactile Sensor ◽  
Contact Forces ◽  
Minimum Amount ◽  
Robotic Grasping ◽  
Dexterous Manipulation ◽  
Grasping Force ◽  
Sense Of Touch ◽  
Human Sense ◽  
Robotic Applications

This paper presents the design of a new force/tactile sensor for robotic applications. The sensor is suitably designed to provide the robotic grasping device with a sensory system mimicking the human sense of touch, namely, a device sensitive to contact forces, object slip and object geometry. This type of perception information is of paramount importance not only in dexterous manipulation but even in simple grasping task, especially when objects are fragile and deformable, such that only a minimum amount of grasping force can be applied to hold the object without damaging it.

Comprehensive Characterization of Large Piezoresistive Variation of Ni-PDMS Composites

2011 ◽  
Vol 110-116 ◽  
pp. 1336-1344 ◽  
Author(s):  
Giancarlo Canavese ◽  
Mariangela Lombardi ◽  
Stefano Stassi ◽  
Candido F. Pirri
Keyword(s):  
Conductive Filler ◽  
Tactile Sensor ◽  
Quantum Tunnelling ◽  
Elastomeric Matrix ◽  
Cost Efficient ◽  
Robotic Applications ◽  
Metal Polymer ◽  
Comprehensive Characterization ◽  
Composite Samples

This work presents a comprehensive investigation of the piezoresistive response of a metal-polymer composite for robotic tactile sensor application. Composite samples, based on nickel nanostructured conductive filler in a polydimetihylsiloxane (PDMS) insulating elastomeric matrix, were prepared changing several process parameters like thickness, composition of the polymer and nickel filler content. A variation of electric resistance up to nine orders of magnitude under applied uniaxial load was measured in the fabricated samples. Cost efficient materials, simplicity of the process, large sensibility, and harsh environment compatibility make this quantum tunnelling composite adapted to be integrated as sensing coating in space robotic applications.

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