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Adding proximity sensing capability to tactile array based on off-the-shelf FSR and PSoC

Julian Castellanos-Ramos, Andres Trujillo-Leon, Rafael Navas-Gonzalez, Francisco Barbero-Recio, Jose A. Sanchez-Duran, Oscar Oballe-Peinado, Fernando Vidal-Verdu
2019 IEEE Transactions on Instrumentation and Measurement  
This article presents a multimodal proximity and tactile patch based on commercial FSR plus a programmable system on chip (PSoC).  ...  Index Terms-Multimodal sensors, pretouch, programmable system on chip (PSoC), proximity sensors, tactile sensors.  ...  A tactile sensor patch for a robotic arm based on these sensors was reported by Vidal-Verdú et al. [19] . Similar sensors have been mounted on robotic hands [20] .  ... 
doi:10.1109/tim.2019.2944555 fatcat:nsilkzvzz5bwviz2f7kxkom66a

A highly sensitive multimodal capacitive tactile sensor

Thuy-Hong-Loan Le, Alexis Maslyczyk, Jean-Philippe Roberge, Vincent Duchaine
2017 2017 IEEE International Conference on Robotics and Automation (ICRA)  
There is demand for high performance tactile sensor which can support robotic grippers in manipulation tasks especially for unstructured flexible objects.  ...  The proposed multimodal sensor overcomes the difficulty by enhancing the electrical and mechanical design therefore simplifying the manufacture steps.  ...  Fig. 1 . 1 Multimodal tactile sensors on Robotiq gripper multimodal sensor for fabric manipulation and classification.  ... 
doi:10.1109/icra.2017.7989053 dblp:conf/icra/LeMRD17 fatcat:vtdzzcohyzbkxnlqbqyynxh244

Tactile sensing in dexterous robot hands — Review

Zhanat Kappassov, Juan-Antonio Corrales, Véronique Perdereau
2015 Robotics and Autonomous Systems  
Twenty eight various tactile sensors, each integrated into a robot hand, are classified in accordance with their transduction types and applications.  ...  The main issues of artificial tactile sensing are addressed. General requirements of a tactile sensor are briefly discussed and the main transduction technologies are analyzed.  ...  The capacitance of capacitive tactile sensors can be measured by commercial CDCs chips. The CDC chips can include I 2 C serial interface.  ... 
doi:10.1016/j.robot.2015.07.015 fatcat:lifzazooinf6xefcswgzb6pshi

Visuo-Haptic Object Perception for Robots: An Overview [article]

Nicolás Navarro-Guerrero, Sibel Toprak, Josip Josifovski, Lorenzo Jamone
2022 arXiv   pre-print
This article summarizes the current state of multimodal object perception for robotic applications.  ...  It covers aspects of biological inspiration, sensor technologies, data sets, and sensory data processing for object recognition and grasping.  ...  Secondly, a summary of tactile sensors and multimodal datasets are provided. Thirdly, the computational aspect for multimodal recognition for robots is presented.  ... 
arXiv:2203.11544v1 fatcat:56jgilep2rh65eans6v25o2rim

Event-Driven Visual-Tactile Sensing and Learning for Robots [article]

Tasbolat Taunyazov, Weicong Sng, Hian Hian See, Brian Lim, Jethro Kuan, Abdul Fatir Ansari, Benjamin C.K. Tee, Harold Soh
2020 arXiv   pre-print
This work contributes an event-driven visual-tactile perception system, comprising a novel biologically-inspired tactile sensor and multi-modal spike-based learning.  ...  We have made our visual-tactile datasets freely-available to encourage research on multi-modal event-driven robot perception, which we believe is a promising approach towards intelligent power-efficient  ...  To summarize, our primary contributions are: • NeuTouch, a scalable event-based tactile sensor for robot end-effectors; • A Visual-Tactile Spiking Neural Network that leverages multiple event sensor modalities  ... 
arXiv:2009.07083v1 fatcat:k5zh32hmoza2tm72s7eeu6mzlu

Experimental Evaluation of Tactile Sensors for Compliant Robotic Hands

Werner A. Friedl, Máximo A. Roa
2021 Frontiers in Robotics and AI  
This study compares the performance of different tactile sensors mounted on the variable stiffness gripper CLASH 2F, including three commercial sensors: a single taxel sensor from the companies Tacterion  ...  a published benchmark for pick and place operations.  ...  ACKNOWLEDGMENTS The authors want to thank Florian Schmidt for the support on the software development for controlling the hand, Ashok Meenakshi Sundaram for helping with the integration of planner and  ... 
doi:10.3389/frobt.2021.704416 pmid:34708080 pmcid:PMC8544026 fatcat:zjwsj5vs4zdhzhgksua42f4ymy

Toward Perceptive Soft Robots: Progress and Challenges

Hongbo Wang, Massimo Totaro, Lucia Beccai
2018 Advanced Science  
Irene Mannari from the Scuola Superiore Sant'Anna (SSSA, Pisa, Italy), for the artistic drawing of Figure 1 .  ...  Challenge Multimodal Sensors To achieve both proprioception and tactile sensing in a soft robot, an important issue regards the design and development of multimodal, stretchable sensors.  ...  Figure 3 . 3 Examples of soft robotics and structures with tactile sensing. a) Soft robotic finger with integrated waveguide strain sensor for both proprioception and tactile sensing.  ... 
doi:10.1002/advs.201800541 pmid:30250796 pmcid:PMC6145216 fatcat:wdsguo4y5rf6tpdklo4esonr7y

Humanoid Multimodal Tactile-Sensing Modules

P Mittendorfer, G Cheng
2011 IEEE Transactions on robotics  
Index Terms-humanoid skin, artificial sensor skin, multimodal skin, tactile sensor module, sensor network, touch controller.  ...  In this paper, we present a new generation of active Tactile Modules (HEX-O-SKIN), developed in order to approach multi-modal whole body touch sensation for humanoid robots.  ...  for Computational Neuroscience Munich.  ... 
doi:10.1109/tro.2011.2106330 fatcat:wthbqp2kmjdfrjayqhwre3hfpe

Novel Haptic Device Using Jamming Principle for Providing Kinaesthetic Feedback in Glove-Based Control Interface

Igor Zubrycki, Grzegorz Granosik
2016 Journal of Intelligent and Robotic Systems  
This paper presents a new type of wearable haptic device which can augment a sensor glove in various tasks of telemanipulation.  ...  However, time necessary for a complete change of stiffness is high (time constant 0.5 s); therefore, additional cutaneous interface was added in a form of small vibration motors.  ..., which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a  ... 
doi:10.1007/s10846-016-0392-6 fatcat:qhr5v2je6nhglj2u2tgaev5g2a

A Multimodal, Adjustable Sensitivity, Digital 3-Axis Skin Sensor Module

Alexis Carlos Holgado, Tito Pradhono Tomo, Sophon Somlor, Shigeki Sugano
2020 Sensors  
This paper presents major improvements to a multimodal, adjustable sensitivity skin sensor module.  ...  The sensor has been designed to be interconnected with other sensor modules to be able to cover large surfaces of a robot with normal and shear force sensing and object proximity detection.  ...  Acknowledgments: The authors would like to thank Javier Alejandro Alvarez Lopez for his contributions in the first versions of the sensor module.  ... 
doi:10.3390/s20113128 pmid:32492930 pmcid:PMC7309138 fatcat:n2xelqy555fbdlxhgprlhufhfm

Review Article Tactile sensing for mechatronics—a state of the art survey

M.H Lee, H.R Nicholls
1999 Mechatronics (Oxford)  
In this paper we examine the state of the art in tactile sensing for mechatronics[ We de_ne a tactile sensor as a device or system that can measure a given property of an object or contact event through  ...  sensing in the following areas] cutaneous sensors\ sensing _ngers\ soft materials\ industrial robot grippers\ multi_ngered hands\ probes and whiskers\ analysis of sensing devices\ haptic perception\ processing  ...  as a step towards a general framework for integrating multimodal attention stimuli[ A major concern in sensor data processing is the problem of merging or fusing data from more than one sensor or even  ... 
doi:10.1016/s0957-4158(98)00045-2 fatcat:hkv2xhbxeffs7m4c7lpas4byiq

Recent Progress in 3D Printing of Smart Structures: Classification, Challenges, and Trends

Yuyang Ji, Congcong Luan, Xinhua Yao, Jianzhong Fu, Yong He
2021 Advanced Intelligent Systems  
system [106] method for the fabrication of wearable flexible sensors and robot tactile sensing systems.  ...  Alongside wearable flexible sensing devices, many studies on other high-sensitivity sensors have been performed especially for robotic tactile sensing systems. Bodkhe et al.  ... 
doi:10.1002/aisy.202000271 fatcat:x3ynd3o2cfgghhfbs3m46s4pau

Methods and sensors for slip detection in robotics: a survey

Rocco A. Romeo, Loredana Zollo
2020 IEEE Access  
This paper reviews the sensors and methods so far proposed for slip prevention in artificial tactile perception, starting from more classical techniques until the latest solutions tested on robotic systems  ...  Despite the great importance of tactile sensing for humans, mechatronic hands (robotic manipulators, prosthetic hands etc.) are rarely endowed with tactile feedback.  ...  This was done in [44] where a camera and a six-axis force/torque sensor were mounted on a single DOF gripper.  ... 
doi:10.1109/access.2020.2987849 fatcat:dskthga5lfglvggafby2hoyl44

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
Ruotolo, W., +, LRA April 2020 921-928 Dynamic Control of a Rigid Pneumatic Gripper. Romeo, R.A., +, LRA April 2020 2793-2800 Dynamically Reconfigurable Tactile Sensor for Robotic Manipulation.  ...  ., +, LRA Oct. 2020 5425-5431 Soft Inductive Tactile Sensor Using Flow-Channel Enclosing Liquid Metal. Versatile Gripper for Cloth Manipulation.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja

Tactile Robotic Skin with Pressure Direction Detection

Jan Klimaszewski, Daniel Janczak, Paweł Piorun
2019 Sensors  
Tactile sensing is the current challenge in robotics and object manipulation by machines.  ...  The paper presents a new, two-layer construction of artificial robotic skin, which allows measuring the location, value, and direction of pressure from external force.  ...  Each of them is similar to a single sensor described in [4] -it measures exerted force using the Hall effect with the MLX90393 electronic chip.  ... 
doi:10.3390/s19214697 pmid:31671781 pmcid:PMC6864708 fatcat:xojjdc5p6zd33egndqm2a5jhhi
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