Design Of Active Sensing Smart Skin For Incipient Slip Detection In Robotic Applications
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Design Of Active Sensing Smart Skin For Incipient Slip Detection In Robotic Applications
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Author : Cheng Liu (Researcher in robotic tactile sensing)
language : en
Publisher:
Release Date : 2021
Design Of Active Sensing Smart Skin For Incipient Slip Detection In Robotic Applications written by Cheng Liu (Researcher in robotic tactile sensing) and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021 with categories.
Tactile sensing is paramount for robots operating in human-centered environments to help in understanding interaction with objects. To enable robots to have sophisticated tactile sensing capability, researchers have developed different kinds of tactile sensors for robotic hands to realize the 'sense of touch'. In this study, we are focused on the incipient slip detection problem for robots which is known as one of the most challenging issues in robotic tactile sensing. Currently, most of the slip detection sensors are passive sensors which provide limited information about the sensing parameters. Therefore, this will usually require large amount of data and extra computation effort in accurately classifying slip conditions of robotic hands. Other sensing mechanisms such as optical approaches which can provide enriched sensing parameters for slip detection often suffer from complex sensor configurations and being inflexible in terms of customization. Active sensing, on the other hand, has the advantage of simple sensor configurations, and in the meantime can provide more sensing parameters which will improve the overall efficiency of the tactile sensing capabilities for incipient slip detection. In this thesis, by using the active sensing method, a novel active sensing smart skin technique is developed for incipient slip detection which leverages piezoelectric transducers as actuators/sensors. With this method, a robotic fingertip with the embedded actuator and sensor were created in which the actuator generates ultrasonic guided waves received by the sensor during a slip scenario. By analyzing the received signal using an attenuation-based method, we can monitor the entire contact area evolution during a slip scenario. Therefore, this method can serve as an excellent indicator for early slip detection with the advantage of accurately monitoring the contact condition. In addition, the frustrated total internal reflection method was used to validate the signal attenuation increases with the growing of the contact area. Built on these results, a unique robotic skin was then designed and fabricated which demonstrated robust and sensitive response for incipient slip detection. Finally, an LED slip alert system on a real gripper was developed to demonstrate the capability of our method to be applicable to real robotic finger situations.
International Aerospace Abstracts
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Author :
language : en
Publisher:
Release Date : 1999
International Aerospace Abstracts written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1999 with Aeronautics categories.
Robotic Tactile Sensing
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Author : Ravinder S. Dahiya
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-07-29
Robotic Tactile Sensing written by Ravinder S. Dahiya and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-07-29 with Technology & Engineering categories.
Future robots are expected to work closely and interact safely with real-world objects and humans alike. Sense of touch is important in this context, as it helps estimate properties such as shape, texture, hardness, material type and many more; provides action related information, such as slip detection; and helps carrying out actions such as rolling an object between fingers without dropping it. This book presents an in-depth description of the solutions available for gathering tactile data, obtaining aforementioned tactile information from the data and effectively using the same in various robotic tasks. The efforts during last four decades or so have yielded a wide spectrum of tactile sensing technologies and engineered solutions for both intrinsic and extrinsic touch sensors. Nowadays, new materials and structures are being explored for obtaining robotic skin with physical features like bendable, conformable, and stretchable. Such features are important for covering various body parts of robots or 3D surfaces. Nonetheless, there exist many more hardware, software and application related issues that must be considered to make tactile sensing an effective component of future robotic platforms. This book presents an in-depth analysis of various system related issues and presents the trade-offs one may face while developing an effective tactile sensing system. For this purpose, human touch sensing has also been explored. The design hints coming out of the investigations into human sense of touch can be useful in improving the effectiveness of tactile sensory modality in robotics and other machines. Better integration of tactile sensors on a robot’s body is prerequisite for the effective utilization of tactile data. The concept of semiconductor devices based sensors is an interesting one, as it allows compact and fast tactile sensing systems with capabilities such as human-like spatio-temporal resolution. This book presents a comprehensive description of semiconductor devices based tactile sensing. In particular, novel Piezo Oxide Semiconductor Field Effect Transistor (POSFET) based approach for high resolution tactile sensing has been discussed in detail. Finally, the extension of semiconductors devices based sensors concept to large and flexile areas has been discussed for obtaining robotic or electronic skin. With its multidisciplinary scope, this book is suitable for graduate students and researchers coming from diverse areas such robotics (bio-robots, humanoids, rehabilitation etc.), applied materials, humans touch sensing, electronics, microsystems, and instrumentation. To better explain the concepts the text is supported by large number of figures.
A Tactile Sensor For Incipient Slip Detection During Robotic Grip
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Author : Hani Wiliam A. Ibrahim
language : en
Publisher:
Release Date : 2007
A Tactile Sensor For Incipient Slip Detection During Robotic Grip written by Hani Wiliam A. Ibrahim and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007 with Manipulators (Mechanism) categories.
Mechanics Of Localized Slippage In Tactile Sensing
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Author : Anh-Van Ho
language : en
Publisher: Springer
Release Date : 2013-12-24
Mechanics Of Localized Slippage In Tactile Sensing written by Anh-Van Ho and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-12-24 with Technology & Engineering categories.
Localized slippage occurs during any relative sliding of soft contacts, ranging from human fingertips to robotic fingertips. Although this phenomenon is dominant for a very short time prior to gross slippage, localized slippage is a crucial factor for any to-be-developed soft sensing system to respond to slippage before it occurs. The content of this book addresses all aspects of localized slippage, including modeling and simulating it, as well as applying it to the construction of novel sensors with slip tactile perception.
Soft Tactile Sensor Embedded Artificial Skin
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Author : Jianzhu Yin
language : en
Publisher:
Release Date : 2017
Soft Tactile Sensor Embedded Artificial Skin written by Jianzhu Yin and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with categories.
When making contact with objects, we perceive them as warm or cold, rough or smooth, and hard or soft using multiple mechanoreceptors. Current robots and prosthesis lack the perception of touch that is vital for in-hand manipulation and finger-object interaction, thus struggling on certain tasks such as slip prevention, grip control, and texture/stiffness recognition. Tactile feedback on robot manipulators and prosthetic hands are important advancement because it enables manipulation in unstructured surroundings, reveals surface/volumetric properties of objects and improves robotic/prosthetic autonomy. Sensor skin can provide rich, real-time tactile information to aid manipulation and can conformally wrap around a variety of existing fingertips. Numerous soft tactile sensors have been developed using liquid metal (eutectic Gallium Indium, or eGaIn) and flexible elastomer. These sensor skins are inferior to human tactile sensing performance in terms of sensitivity, spatial and/or temporal resolution. Current approaches to measure shear force suffer from poor resolution and ambiguity. A highly sensitive sensor skin that accurately resolves contact force in three-dimension and senses vibration is needed for artificial manipulator to better interact with the environment and external objects. This dissertation describes the design and development of a soft tactile sensing skin that is conformable to existing robotic manipulators and provides dynamic tactile sensing of normal and shear force as well as vibration. A bioinspired shear force sensor is developed by measuring the asymmetric strain pattern of sensor skin when shear force is applied. However normal force would induce symmetric strain pattern, analytically proving that the sensor response is independent of normal force. A 2D solid mechanics steady finite element analysis is developed to evaluate the sensor performance and determine geometric parameters of the artificial skin and strain sensor that provide adequate sensitivity over the light touch shear force range. Static characterization experiments are conducted to produce the linear calibration between sensor response and shear force. This relation is matches analytical estimations as well as simulation predictions. The artificial sensor skin is further examined dynamically in stepwise unloading, slip and controlled vibration tests. We show that the sensor has potential of detecting insipient slip and can resolve vibrations equivalent, or better, than humans. The sensor resolves a variety of tactile events during pick and place, drop or handoff tasks on a robotic manipulator. The shear tactile sensor skin is extended to two-dimensions and integrated with a normal force sensor. The resistive normal force sensor is based on deformation of liquid metal filled spiral shaped microfluidic channel with respect to normal force. The normal force sensors exhibit sensitivity of 18 %/N and better-than-human performance to measure vibration. It is shown that the integrated sensor skin encodes spatially dispersed normal force and lumped shear force in two directions, although there are design and optimization challenges to match the sensitivity to one-dimension shear sensing skin. This research has resulted in the development of a flexible normal and shear sensing skin that is also capable of sensing vibration. The sensing skin can be applied to robotic manipulators or prosthetic hands to improve manipulation performance, prevent slip, gather surface/volumetric object properties for autonomous robot or smarter and more user-friendly prosthesis.
Robot Tactile Sensing
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Author : R. Andrew Russell
language : en
Publisher:
Release Date : 1990
Robot Tactile Sensing written by R. Andrew Russell and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1990 with Computers categories.
This work introduces tactile sensing for those engaged in advanced, sensor-based robotics, with special reference to problems of addressing arrays of sensor elements. It describes tactile sensors to register contact, surface profile, thermal properties and other tactile sensing modes. The use of robot manipulators to provide mobility for tactile sensors, and techniques for applying tactile sensing in robotic manipulation and recognition tasks are also covered. The various applications of this technology are discussed, and robot hands and grips are detailed.
Advanced Tactile Sensing For Robotics
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Author : H.R. Nicholls
language : en
Publisher: World Scientific Publishing Company Incorporated
Release Date : 1992-01-01
Advanced Tactile Sensing For Robotics written by H.R. Nicholls and has been published by World Scientific Publishing Company Incorporated this book supported file pdf, txt, epub, kindle and other format this book has been release on 1992-01-01 with Technology & Engineering categories.
Advanced robot systems require sensory information to enable them to make decisions and to carry out actions in a versatile, autonomous way. Humans make considerable use of information derived through touch, and an emerging domain of robot sensing is tactile sensing. This book considers various aspects of tactile sensing, from sensor hardware design through to the use of tactile data in exploratory situations using a multi-fingered robot hand. Both introductory material and new research results are presented, providing detailed coverage of the subject. Applications from assembly automation to dextrous manipulation are examined, and a particular theme is the relevance of biological touch to robotic tactile sensing. The integration of these topics into a single volume make the book essential reading for all those interested in robotic sensing. Contents: Introduction to Tactile SensingTactile Sensor DesignsProcessing and Using Tactile Sensor Data "(H R Nicholls)"Planar Elasticity for Tactile Sensing "(R S Fearing)"Integrating Tactile Sensors — ESPRIT 278 "(Z G Rzepczynski)"Distributed Touch Sensing "(H R Nicholls & N W Hardy)"The Human Tactile System "(L Moss-Salentijn)"Lessons from the Study of Biological Touch for Robotic Tactile Sensing "(S J Lederman & D T Pawluck)"Lessons from the Study of Biological Touch for Robotic Haptic Sensing "(S J Lederman et al.)"Object Recognition Using Active Tactile Sensing "(P K Allen)"Experiments in Active Haptic Perception with the Utah-MIT Dextrous Hand "(P K Allen et al.)"Future Trends in Tactile Sensing "(H R Nicholls)"Appendix — Basic Linear Elasticity "(R S Fearing)" Readership: Computer scientists and engineers.
Design And Manufacture Of A 3 D Smart Skin For Non Developable Geometries
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Author : Elliot Harris Ransom
language : en
Publisher:
Release Date : 2022
Design And Manufacture Of A 3 D Smart Skin For Non Developable Geometries written by Elliot Harris Ransom and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022 with categories.
A smart skin is a sensing component comprising a network of sensors distributed at specific locations inside a soft polymer skin; this component can be integrated with a structure or part, allowing it to make control decisions. Such skins have compelling applications in the robotics field, potentially enabling dexterous manipulation and facilitating human-robot interactions as in the field of nursing assistant robotics. In this thesis, an investigation was performed to design and fabricate a multifunctional, thin, 3-D polymer skin that is doubly-curved with an embedded distributed sensor network. Piezoelectric sensors and RTD sensors were integrated with the network to functionalize the skin to be able to sense contact and temperature at different locations on the skin. This thesis addresses the above problem by synthesizing two key technologies. Specifically, a stretchable "net" of sensors is used to cover a target part conformally, and this sensor network is covered using a conformal dip coating process to form the complete skin. To apply the key technologies above, several tasks are required, all of which are detailed in this thesis. The network must first be designed using a simulation-based particle swarm optimization algorithm to ensure that it effectively covers the target part. Once manufactured, the network is expanded from its manufacturing footprint and deployed over the surface of the object using a specially developed "stretch tool." After deployment, the network must be encapsulated within a physical skin. Multiple materials are surveyed for suitability in this effort, and a process for encapsulating the network is engineered. After the completion of the skin article, tests are conducted to validate the functionality of the sensors using a data acquisition unit The resulting skin article covers a finger-like demonstrator form, and is capable of sensing temperature differences across its surface, as well as sensing the presence or absence of contact.
Skin Like Multi Modal Sensing Devices For Dexterous Robotic Hands
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Author : Jooyeun Ham
language : en
Publisher:
Release Date : 2020
Skin Like Multi Modal Sensing Devices For Dexterous Robotic Hands written by Jooyeun Ham and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020 with categories.
Skin-like sensing would be useful for many applications, ranging from human-friendly robots to prosthetics. However, while tactile sensors have been studied since the 1970s, they remain relatively little used in applications. The main challenges are practical: there is a need for ``electronic skins'' that are sensitive, flexible and even stretchable, and robust enough to cover the surfaces of arms and hands with many sensing elements. The devices should have high sensitivity and be multi-modal, i.e., able to report changes in normal and shear stress, as well as temperature and proximity. The sensor skins should also be low cost and robust. The goal of my thesis work is to provide skin-like cutaneous sensing ability to robotic hands. The chapters in this thesis include manufacturing techniques and materials for flexible, low-cost, lightweight, sensitive, robust, and multi-modal sensory skins. The sensors include multiaxial force/torque elements, proximity sensors, and temperature sensors. Briefly, the work presented here provides the following contributions in support of cutaneous sensing: fabrication (patterning and bonding), material (dielectric elastomer), sensing devices (multi-axial and multi-modal sensors, and sensor network), integration (soft robotic skin for manipulation with robotic hands). The first contribution concerns manufacturing techniques to fabricate sensing devices in thin films. The sensors and electrodes are created using an ultraviolet laser to ablate and cut patterns on metalized plastic film. With this computer-aided subtraction-based fabrication process, the sensors and their arrangement are easy to customize for different applications. A titanium-induced bonding technique is also introduced and shown to achieve strong bonding between an electrode and a dielectric layer. The rendered strong adhesion on the interface of the device component allows a robust capacitive sensor to withstand significant shear and rotational loads, which increases the sensor's dynamic range. Next, a material is presented to enhance the sensitivity of capacitive sensing devices. This material is afforded by a combination of a titanium-based solution and a stretchable elastomer. We observed that the titanium oxo network and silicone elastomer matrix composite have the potential to provide stretchability and adhesion for the dielectric, for a robust and sensitive device. Using the developed manufacturing techniques and materials, we next developed multi-modal sensing devices inspired by the human cutaneous sensing system. We explored capacitive multi-axial sensor designs that conform to curved surfaces, allowing them to wrap around the back and sides of a robotic hand. Each taxel measures a combination of normal, shear, and torsional stresses. With active shielding and a microstructured porous dielectric material, the sensor has a desirable combination of wide dynamic range with high resolution (i.e., 0.5 to 500 kPa in the normal direction), relative immunity to electromagnetic noise, and the ability to handle wet and slippery materials, such as tofu or Jell-O. By dynamically changing the patterns and combinations of electrodes sampled, our developed sensor can provide dynamic as well as low frequency tactile information, even when scaled to large areas. Empirical results indicate that our sensor can detect changes in grasp force and events such as making or breaking contact and the onset of linear or torsional sliding. An additional development consists of a low-cost, stretchable Kirigami sensor network for soft robotic devices. Soft robotic hands can facilitate human-robot interaction by allowing robots to grasp a wide range of objects safely and gently. However, their performance has been hampered by a lack of suitable sensors. To address this, we developed a multi-modal sensor network integrated with a soft robotic hand. The manufacturing approach uses UV laser ablation to create sensor patterns and UV laser cutting for stretchable interconnections in a Kirigami pattern. Temperature and proximity sensors are combined into a single network. We evaluated both the interconnects and sensors by measuring the impedance change to external stimuli and observed that sensor readings are not substantially affected by stretching the interconnects. We tested several interaction scenarios, including identifying hot and cold water bottles, a warm burrito for food handling, and a warm baby-like doll for future medical applications with the sensor sheet wrapped around a soft robotic gripper. Our demonstrations showed that robotic hands can have cutaneous sensing that provides robust and reliable multi-modal information. In summary, we have fabricated sensing devices and networks using laser ablation and reliable bonding techniques. The multi-axial and multi-modal cutaneous sensing devices are demonstrated on two robotic platforms. The first is a gripper that manipulates a variety of fragile and slippery foods. The second is a soft robotic hand that measures temperature while maintaining gentle contact. Collectively, our experimental results show that feedback from the tactile sensors enables robots to identify contact stimuli in support of an improved understanding of objects and the environment with which they are interacting.