Robotic Tactile Sensing
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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.
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.
Robotic Tactile Sensing
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Author : Ravinder S. Dahiya
language : en
Publisher: Springer
Release Date : 2012-07-30
Robotic Tactile Sensing written by Ravinder S. Dahiya and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-07-30 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.
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.
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
Tactile Sensor
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Author : Fouad Sabry
language : en
Publisher: One Billion Knowledgeable
Release Date : 2025-01-28
Tactile Sensor written by Fouad Sabry and has been published by One Billion Knowledgeable this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-01-28 with Technology & Engineering categories.
Explore the transformative world of tactile sensors, an essential facet of robotics science that bridges human touch and artificial perception. "Tactile Sensor" brings a unique journey for professionals, students, and robotics enthusiasts alike, offering a blend of theory and practical insights into cuttingedge haptic technology and robotic perception. This book serves as an invaluable resource in the exploration of tactile sensors, equipping readers with knowledge applicable across various industries. Chapters Brief Overview: 1: Tactile sensor: An introduction to tactile sensors and their role in robotics applications. 2: Sensor: A detailed look at sensor technology as it pertains to touch perception. 3: Haptic technology: Unpacking the technology behind tactile feedback and interaction. 4: Strain gauge: Exploring strain gauges and their integration into haptic systems. 5: Mechanoreceptor: Insight into biological mechanoreceptors and their engineering parallels. 6: Touchscreen: Delving into touchscreen technology and its reliance on tactile sensors. 7: Simultaneous localization and mapping: Techniques for accurate mapping using tactile data. 8: Pacinian corpuscle: Understanding sensory structures that inspire tactile sensor designs. 9: Sensory substitution: How tactile sensors enable substitute perception in robotics. 10: Proximity sensor: The role of proximity sensors in enhancing tactile sensing systems. 11: Ultrasonic transducer: Using ultrasonic transducers for precise tactile feedback. 12: Machine perception: How tactile sensors inform machine perception in robotics. 13: Tactile discrimination: Techniques to enhance a robot’s tactile sensitivity. 14: Haptic perception: Bridging physical touch and digital perception in robots. 15: Capacitive sensing: Capacitive methods used to detect touch and pressure. 16: Robotics: A comprehensive view of tactile sensors’ role in robotic applications. 17: Somatosensory system: Drawing from biology to improve tactile sensing in machines. 18: Affective haptics: Emotional and social aspects of touch in haptic technology. 19: Robotic sensing: Core principles of tactile sensors in robotic perception. 20: Soft robotics: Soft robotics and its reliance on tactile sensing systems. 21: Artificial lateral line: Emulating nature’s lateral line for robotic tactile sensing. This book is more than an academic resource—it’s an investment in understanding the future of robotics. Professionals, students, and hobbyists alike will find in this work the depth, utility, and inspiration necessary to advance their grasp of tactile sensing in today’s evolving world.
Tactile Sensing Skill Learning And Robotic Dexterous Manipulation
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Author : Qiang Li
language : en
Publisher: Academic Press
Release Date : 2022-04-02
Tactile Sensing Skill Learning And Robotic Dexterous Manipulation written by Qiang Li and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-04-02 with Computers categories.
Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects' property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. - Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation - Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control - Introduces recent work on human's dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration - Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches
Robotic Tactile Sensors For Changing Contact Conditions
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Author : Tae Myung Huh
language : en
Publisher:
Release Date : 2020
Robotic Tactile Sensors For Changing Contact Conditions written by Tae Myung Huh 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.
In recent years, robots have increasingly operated in a range of relatively unstructured environments, from outdoor agricultural operations to a cluttered kitchen in the home. As robots operate in these environments, they interact through continuously changing contact conditions between their hands and feet and the surfaces they touch. Toward allowing robots to respond to changing contact conditions, this thesis presents new tactile sensors for three particularly challenging scenarios: small running robots that need to sense changing contact conditions at their feet; grippers that employ gecko-inspired adhesion and need to sense how the adhesion is changing; and frictional grippers that use controlled sliding for manipulation. In each case, the sensing solution is informed by models of the contacts and how they can change. The first application focuses on leg-ground contacts for small running robots. Although legs are more complicated than wheels, legged robots are gradually growing in popularity due to their agility and versatility on various outdoor terrains. For best performance in terms of speed, efficiency and robust operation, legged robots should be equipped with sensors on their feet to monitor ground reaction forces and contact locations, so that they can account for how these affect running dynamics. However, it has been challenging to implement force sensors on the legs of small running robots because of the scale and geometry. To tackle this challenge, I developed a flexible capacitive force sensor array that measures distributed normal forces and a shear force. The sensor is mounted on the compliant C-shaped feet of a small hexapod robot and provides information about the ground reaction forces, contact locations, and overall gait smoothness and stability. Using the sensor information, I demonstrate two adaptive gait control methods that achieve improved running in terrain transitions and that reduce trajectory disturbances arising from obstacle contacts. Secondly, this thesis addresses robots that rely on adhesion, especially gecko-inspired adhesion. Grippers with astrictive force capabilities, such as suction or adhesion, adhere to an object surface even in with the negative grasp forces, allowing to them handle challenging objects such as large flat tiles and large curved objects that they cannot enclose. Among the various astrictive forces, gecko-inspired adhesion enjoys recent attention for its controllability: it is activated simply by applying a shear force and releases when the shear force is relaxed. However, measuring the adhesion is difficult because it depends on the area of contact formed by microscopic fibrillar structures and a surface. To tackle this challenge, I devised two direct contact area sensors for a gecko-adhesive gripper by using guided Lamb wave sensing and capacitive near-field proximity sensing. The former is relatively insensitive to the material of the adherend surface; the latter provides a high spatial resolution, which is useful for small grippers. In both approaches, I show that the sensor response matches the real contact area of the microscopic fibrillar structures sticking to a surface. Using these sensors, the robot can monitor contact area changes during a grasping process and evaluate the gripping quality before a failure occurs. Lastly, this thesis considers tactile sensing for in-hand manipulation with sliding. In this type of contact, multimodal sensors are necessary to simultaneously monitor steady force interactions and dynamic contact events. This information is useful both for stable gripping under varying load and for manipulation with respect to a hand. However, it has been challenging to build a compact multimodal sensor with a large taxel array that can be sampled rapidly for detecting directional dynamic events such as linear or rotational sliding. To address this challenge, I devised a capacitive nib array sensor that measures local stresses as well as directional sliding motions. The sensor rapidly samples the tactile array by dynamically clustering the sensing electrodes into groups that are selectively sensitive to certain types of directional sliding. Using this sensor, I demonstrate an in-hand sliding manipulation that measures changing sliding contacts and controls the grasp force to pivot an object lying on a table to an upright pose.
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
Tactile Sensing And Displays
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Author : Javad Dargahi
language : en
Publisher: John Wiley & Sons
Release Date : 2012-11-06
Tactile Sensing And Displays written by Javad Dargahi and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-11-06 with Science categories.
Comprehensively covers the key technologies for the development of tactile perception in minimally invasive surgery Covering the timely topic of tactile sensing and display in minimally invasive and robotic surgery, this book comprehensively explores new techniques which could dramatically reduce the need for invasive procedures. The tools currently used in minimally invasive surgery (MIS) lack any sort of tactile sensing, significantly reducing the performance of these types of procedures. This book systematically explains the various technologies which the most prominent researchers have proposed to overcome the problem. Furthermore, the authors put forward their own findings, which have been published in recent patents and patent applications. These solutions offer original and creative means of surmounting the current drawbacks of MIS and robotic surgery. Key features:- Comprehensively covers topics of this ground-breaking technology including tactile sensing, force sensing, tactile display, PVDF fundamentals Describes the mechanisms, methods and sensors that measure and display kinaesthetic and tactile data between a surgical tool and tissue Written by authors at the cutting-edge of research into the area of tactile perception in minimally invasive surgery Provides key topic for academic researchers, graduate students as well as professionals working in the area