Multimodal Bioinspired Artificial Skin Module For Tactile Sensing
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Multimodal Bioinspired Artificial Skin Module For Tactile Sensing
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Author : Thiago Eustaquio Alves de Oliveira
language : en
Publisher:
Release Date : 2019
Multimodal Bioinspired Artificial Skin Module For Tactile Sensing written by Thiago Eustaquio Alves de Oliveira and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019 with categories.
Tactile sensors are the last frontier to robots that can handle everyday objects and interact with humans through contact. Robots are expected to recognize the properties of objects in order to handle them safely and efficiently in a variety of applications, such as health- and elder care, manufacturing, or high-risk environments. To be effective, such sensors have to sense the geometry of touched surfaces and objects, as well as any other relevant information for their tasks, such as forces, vibrations, and temperature, that allow them to safely and securely interact within an environment. Given the capability of humans to easily capture and interpret tactile data, one promising direction in order to produce enhanced robotic tactile sensors is to explore and imitate human tactile sensing capabilities. In this context, this thesis presents the design and hardware implementation issues related to the construction of a novel multimodal bio-inspired skin module for dynamic and static tactile surface characterization. Drawing inspiration from the type, functionality, and organization of cutaneous tactile elements in the human skin, the proposed solution determines the placement of two shallow sensors (a tactile array and a nine DOF magnetic, angular rate, and gravity system) and a deep pressure sensor within a flexible compliant structure, similar to the receptive field of the Pacinian mechanoreceptor. The benefit of using a compliant structure is tri-folded. First, the module has the capability of performing touch tasks on unknown surfaces, tackling the tactile inversion problem. The compliant structure guides deforming forces from its surface to the deep pressure sensor, while keeping track of the deformation of the structure using advantageously placed shallow sensors. Second, the module's compliant structure and its embedded sensor placement provide useful data to overcome the problem of estimating non-normal forces, a significant challenge for the current generation of tactile sensing technologies. This capability allows accommodating sensing modalities essential for acquiring tactile images and classifying surfaces by vibrations and accelerations. Third, the compliant structure of the module also contributes to the relaxation of orientation constraints of end-effectors or other robotic parts carrying the module to contact surfaces of unknown objects. Issues related to the module calibration, its sensing capabilities and possible real-world applications are also presented.
Tactile Sensors For Robotic Applications
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Author : Salvatore Pirozzi
language : en
Publisher: MDPI
Release Date : 2021-03-17
Tactile Sensors For Robotic Applications written by Salvatore Pirozzi and has been published by MDPI this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-03-17 with Technology & Engineering categories.
The book covers different aspects: - Innovative technologies for tactile sensors development - Tactile data interpretation for control purposes - Alternative sensing technologies - Multi-sensor systems for grasping and manipulation - Sensing solutions for impaired people
Bio Inspired Computing Theories And Applications
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Author : Linqiang Pan
language : en
Publisher: Springer Nature
Release Date : 2021-03-31
Bio Inspired Computing Theories And Applications written by Linqiang Pan and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-03-31 with Computers categories.
This volume constitutes the revised selected papers of the 15th International Conference on Bio-inspired Computing: Theories and Applications, BIC-TA 2020, held in Qingdao, China, in October 2020. The 43 full papers presented in both volumes were selected from 109 submissions. The papers are organized according to the topical headings: evolutionary computation and swarm intelligence; neural networks and machine learning; DNA computing and membrane computing.
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.
Humanizing Artificial Touch
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Author : John-John Cabibihan
language : en
Publisher: Academic Press
Release Date : 2025-09-01
Humanizing Artificial Touch written by John-John Cabibihan and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-09-01 with Science categories.
Humanlike Touch for Prosthetics and Social Robotics: Skin, Sensing, and Structures contains recent advances in artificial skin modelling and robotic tactile sensing technologies, integrating these in the structure of an artificial hand mimicking its important features. This book will give special treatment to the relationship between the artificial skin material and embedded tactile sensors, describing how artificial skin and embedded sensors can be designed and constructed using 3D printing technologies with case examples on how these were created for amputees achieve a more a natural and rich human-robot tactile interaction. This book is oriented towards students, researchers, and clinical practitioners who are working in the design and construction of artificial hands for prosthetics and social robotics. - Presents simulation and experimental analyses of artificial skin materials with lifelike features - Introduces bio-inspired tactile sensors and neuromorphic tactile sensing methodologies - Explores the construction of patient-specific artificial hands through 3D printing technologies
Bio Inspired Tactile Sensing
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Author : Moritz Scharf
language : en
Publisher: BoD – Books on Demand
Release Date : 2021-01-01
Bio Inspired Tactile Sensing written by Moritz Scharf and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-01-01 with Technology & Engineering categories.
The transfers of natural mechanisms and structures into artificial, technical applications are successful approaches for innovation and become more important nowadays. The concept of Biomechatronics provides a structured framework to do so. Following these ideas, this work analyses a novel tactile sensor inspired by natural vibrissae. The sense of touch is an indispensable part of the sensory system of living beings. In, e.g., rats, the so-called vibrissal system, including long sensory hairs around the muzzle of the animals (vibrissae), is an essential part of tactile perception. Rats can determine the location, shape, and texture of an object by touching it with their vibrissae. Transferring these abilities to an artificial sensor design, the interaction between the hair/sensor shaft and different objects are analyzed. The sensor/hair shaft fulfills different functions in terms of a preprocessing of the captured signals. Therefore, by knowing and controlling these effects, the captured signals can be optimized in a way that particular information inside the captured signals is pronounced.
Artificial Tactile Sensing In Biomedical Engineering
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Author : Siamak Najarian
language : en
Publisher: McGraw Hill Professional
Release Date : 2009-05-18
Artificial Tactile Sensing In Biomedical Engineering written by Siamak Najarian and has been published by McGraw Hill Professional this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-05-18 with Technology & Engineering categories.
Publisher's Note: Products purchased from Third Party sellers are not guaranteed by the publisher for quality, authenticity, or access to any online entitlements included with the product. Master Artificial Tactile Sensing Design for Biomedical Engineering Applications Filled with high-quality photographs and illustrations, including some in color, this definitive guide details the design and manufacturing of artificial tactile systems and their applications in surgical procedures. Artificial Tactile Sensing in Biomedical Engineering explains the fundamentals of the human sense of touch and the latest techniques for artificially replicating it. The book describes the mechanistic principles of static and dynamic tactile sensors and discusses cutting-edge biomedical applications, including minimally invasive surgery, tumor detection, robotic surgery, and surgical simulations. Artificial Tactile Sensing in Biomedical Engineering covers: Capacitive, magnetic, inductive, conductive elastomeric, optical, and thermal sensors Strain gauge and piezoelectric sensors Tactile sensing in surgery and palpation Tactile image information through palpation Tumor detection via artificial tactile sensing Estimating tumor parameters using the finite element method and an artificial neural network Determination of mechanical properties of biological tissues Tactile sensing in remote and robotic surgery Haptics application in surgical simulation
The Sensitive Soft Robot From Multimodal Skin To Self Healing Adaptability
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Author : Hedan Bai
language : en
Publisher:
Release Date : 2021
The Sensitive Soft Robot From Multimodal Skin To Self Healing Adaptability written by Hedan Bai 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.
Animals are evolved to acquire rich tactile sensations that allow them to adapt to and survive the changing environments. Robots built with conventional hardware, on the other hand, have yet to achieve the same level of sophistication for generally useful applications. In this dissertation, I present my work on a new class of multifunctional stretchable sensors that, taking inspirations from biology, provide rich tactile sensations for soft robots through novel designs combining optical sensing principles and functional organic materials. In the first part, I present stretchable distributed fiber-optic sensors (DFOS) that can resolve multimodal deformations to mimic the enabling distributed multimodal sensing function in skin's mechanoreception. With principles inspired by silica-based DFOS systems, stretchable DFOS exploits a combination of frustrated total internal reflection and wavelength-modulated absorption to distinguish and measure the locations, magnitudes, and modes (stretch, bend, or press) of mechanical deformations. We further demonstrate multilocation decoupling and multimodal deformation decoupling through a stretchable DFOS-integrated wireless glove that can reconfigure all types of finger joint movements and external presses simultaneously, with only a single sensor in real time. In the second part, I present autonomous self-healing and damage resilient stretchable optical sensors that enable soft robots to detect, adapt to, and survive damages via feedback control. Intrinsic self-healing materials can recover their mechanical properties post damages via dynamic bonds for infinite times autonomously or with external stimuli. Elasticity, toughness, and autonomous self-healing abilities are contradicting properties in self-healing elastomers to optimize simultaneously. Due to exacerbated viscoelasticity contributed by the dynamic bonds, self-healing stretchable electronic sensors suffer from drift, hysteresis and limited strain range. Combing optimization in material design and sensor design, a stretchable optical sensor has been achieved that autonomously self-heals in room temperature and provides dynamic measurements to 140% strain with no hysteresis or drift. Moreover, the sensor is damage resilient to substantial material removal by virtue of material toughness and optical sensing principle. A soft pneumatic quadruped with the self-healing sensors and self-sealing actuators is demonstrated to survive and adapt to sever damages.
Sensitive Skin
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Author : Vladimir Lumelsky
language : en
Publisher: World Scientific Publishing Company Incorporated
Release Date : 2000
Sensitive Skin written by Vladimir Lumelsky 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 2000 with Medical categories.
This book covers the principles, methodology, and prototypes of sensing skin-like devices and related intelligence and software. Sensitive Skins are large-area and flexible arrays of sensors integrated onto the entire surface of machines. Sensitive Skin will endow these machines with the senses of proximity, touch, pressure, temperature, and chemical/biological agents, thus making possible the use of unsupervised machines in unstructured and unpredictable surroundings. Sensitive Skin will make machines “cautious” and thus friendly to their environment. It will revolutionize service industries, make important contributions to human prosthetics, and augment human sensing when fashioned into clothing. Being transducers producing massive data flow, Sensitive Skin devices will constitute yet another advance in the information revolution.
Haptic Perception Decision Making And Learning For Manipulation With Artificial Hands
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Author : Randall Blake Hellman
language : en
Publisher:
Release Date : 2016
Haptic Perception Decision Making And Learning For Manipulation With Artificial Hands written by Randall Blake Hellman and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with Artificial hands categories.
Robotic systems are outmatched by the abilities of the human hand to perceive and manipulate the world. Human hands are able to physically interact with the world to perceive, learn, and act to accomplish tasks. Limitations of robotic systems to interact with and manipulate the world diminish their usefulness. In order to advance robot end effectors, specifically artificial hands, rich multimodal tactile sensing is needed. In this work, a multi-articulating, anthropomorphic robot testbed was developed for investigating tactile sensory stimuli during finger-object interactions. The artificial finger is controlled by a tendon-driven remote actuation system that allows for modular control of any tendon-driven end effector and capabilities for both speed and strength. The artificial proprioception system enables direct measurement of joint angles and tendon tensions while temperature, vibration, and skin deformation are provided by a multimodal tactile sensor. Next, attention was focused on real-time artificial perception for decision-making. A robotic system needs to perceive its environment in order to make decisions. Specific actions such as "exploratory procedures" can be employed to classify and characterize object features. Prior work on offline perception was extended to develop an anytime predictive model that returns the probability of having touched a specific feature of an object based on minimally processed sensor data. Developing models for anytime classification of features facilitates real-time action-perception loops. Finally, by combining real-time action-perception with reinforcement learning, a policy was learned to complete a functional contour-following task: closing a deformable ziplock bag. The approach relies only on proprioceptive and localized tactile data. A Contextual Multi-Armed Bandit (C-MAB) reinforcement learning algorithm was implemented to maximize cumulative rewards within a finite time period by balancing exploration versus exploitation of the action space. Performance of the C-MAB learner was compared to a benchmark Q-learner that eventually returns the optimal policy. To assess robustness and generalizability, the learned policy was tested on variations of the original contour-following task. The work presented contributes to the full range of tools necessary to advance the abilities of artificial hands with respect to dexterity, perception, decision-making, and learning.