Soft Tactile Sensor Embedded Artificial Skin
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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.
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
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.
Wearable Electronics And Embedded Computing Systems For Biomedical Applications
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Author : Enzo Pasquale Scilingo
language : en
Publisher: MDPI
Release Date : 2018-04-03
Wearable Electronics And Embedded Computing Systems For Biomedical Applications written by Enzo Pasquale Scilingo and has been published by MDPI this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-04-03 with Mathematics categories.
This book is a printed edition of the Special Issue "Wearable Electronics and Embedded Computing Systems for Biomedical Applications" that was published in Electronics
Flexible Robotics
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Author : Mathieu Grossard
language : en
Publisher: John Wiley & Sons
Release Date : 2013-08-05
Flexible Robotics written by Mathieu Grossard 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 2013-08-05 with Technology & Engineering categories.
The objective of this book is to provide those interested in the field of flexible robotics with an overview of several scientific and technological advances in the practical field of robotic manipulation. The different chapters examine various stages that involve a number of robotic devices, particularly those designed for manipulation tasks characterized by mechanical flexibility. Chapter 1 deals with the general context surrounding the design of functionally integrated microgripping systems. Chapter 2 focuses on the dual notations of modal commandability and observability, which play a significant role in the control authority of vibratory modes that are significant for control issues. Chapter 3 presents different modeling tools that allow the simultaneous use of energy and system structuring notations. Chapter 4 discusses two sensorless methods that could be used for manipulation in confined or congested environments. Chapter 5 analyzes several appropriate approaches for responding to the specific needs required by versatile prehension tasks and dexterous manipulation. After a classification of compliant tactile sensors focusing on dexterous manipulation, Chapter 6 discusses the development of a complying triaxial force sensor based on piezoresistive technology. Chapter 7 deals with the constraints imposed by submicrometric precision in robotic manipulation. Chapter 8 presents the essential stages of the modeling, identification and analysis of control laws in the context of serial manipulator robots with flexible articulations. Chapter 9 provides an overview of models for deformable body manipulators. Finally, Chapter 10 presents a set of contributions that have been made with regard to the development of methodologies for identification and control of flexible manipulators based on experimental data. Contents 1. Design of Integrated Flexible Structures for Micromanipulation, Mathieu Grossard, Mehdi Boukallel, Stéphane Régnier and Nicolas Chaillet. 2. Flexible Structures’ Representation and Notable Properties in Control, Mathieu Grossard, Arnaud Hubert, Stéphane Régnier and Nicolas Chaillet. 3. Structured Energy Approach for the Modeling of Flexible Structures, Nandish R. Calchand, Arnaud Hubert, Yann Le Gorrec and Hector Ramirez Estay. 4. Open-Loop Control Approaches to Compliant Micromanipulators, Yassine Haddab, Vincent Chalvet and Micky Rakotondrabe. 5. Mechanical Flexibility and the Design of Versatile and Dexterous Grippers, Javier Martin Amezaga and Mathieu Grossard. 6. Flexible Tactile Sensors for Multidigital Dexterous In-hand Manipulation, Mehdi Boukallel, Hanna Yousef, Christelle Godin and Caroline Coutier. 7. Flexures for High-Precision Manipulation Robots, Reymond Clavel, Simon Henein and Murielle Richard. 8. Modeling and Motion Control of Serial Robots with Flexible Joints, Maria Makarov and Mathieu Grossard. 9. Dynamic Modeling of Deformable Manipulators, Frédéric Boyer and Ayman Belkhiri. 10. Robust Control of Robotic Manipulators with Structural Flexibilities, Houssem Halalchi, Loïc Cuvillon, Guillaume Mercère and Edouard Laroche. About the Authors Mathieu Grossard, CEA LIST, Gif-sur-Yvette, France. Nicolas Chaillet, FEMTO-ST, Besançon, France. Stéphane Régnier, ISIR, UPMC, Paris, France.
Robotic Systems And Autonomous Platforms
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Author : Shawn M. Walsh
language : en
Publisher: Woodhead Publishing
Release Date : 2018-10-11
Robotic Systems And Autonomous Platforms written by Shawn M. Walsh and has been published by Woodhead Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-10-11 with Technology & Engineering categories.
Robotic Systems and Autonomous Platforms: Advances in Materials and Manufacturing showcases new materials and manufacturing methodologies for the enhancement of robotic and autonomous systems. Initial chapters explore how autonomous systems can enable new uses for materials, including innovations on different length scales, from nano, to macro and large systems. The means by which autonomous systems can enable new uses for manufacturing are also addressed, highlighting innovations in 3D additive manufacturing, printing of materials, novel synthesis of multifunctional materials, and robotic cooperation. Concluding themes deliver highly novel applications from the international academic, industrial and government sectors. This book will provide readers with a complete review of the cutting-edge advances in materials and manufacturing methodologies that could enhance the capabilities of robotic and autonomous systems. - Presents comprehensive coverage of materials and manufacturing technologies, as well as sections on related technology, such as sensing, communications, autonomy/control and actuation - Explores potential applications demonstrated by a selection of case-studies - Contains contributions from leading experts in the field
Electronic Skin
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Author : Ali Ibrahim
language : en
Publisher: CRC Press
Release Date : 2022-09-01
Electronic Skin written by Ali Ibrahim and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-09-01 with Science categories.
Considerable amount of effort has been devoted, over the recent years, towards the development of electronic skin (e-skin) for many application domains such as prosthetics, robotics, and industrial automation. Electronic Skin: Sensors and Systems focuses on the main components constituting the e-skin system. The e-skin system is based on: i) sensing materials composing the tactile sensor array, ii) the front end electronics for data acquisition and signal conditioning, iii) the embedded processing unit performing tactile data decoding, and iv) the communication interface in charge of transmitting the sensors data for further computing. Technical topics discussed in the book include: • Tactile sensing material; • Electronic Skin systems;• Embedded computing and tactile data decoding; • Communication systems for tactile data transmission; • Relevant applications of e-skin system; The book takes into account not only sensing materials but it also provides a thorough assessment of the current state of the art at system level. The book addresses embedded electronics and tactile data processing and decoding, techniques for low power embedded computing, and the communication interface. Electronic Skin: Sensors and Systems is ideal for researchers, Ph.D. students, academic staff and Masters/research students in sensors/sensing systems, embedded systems, data processing and decoding, and communication systems.
Stretchable Bioelectronics For Medical Devices And Systems
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Author : John A. Rogers
language : en
Publisher: Springer
Release Date : 2016-03-31
Stretchable Bioelectronics For Medical Devices And Systems written by John A. Rogers and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-03-31 with Technology & Engineering categories.
This book highlights recent advances in soft and stretchable biointegrated electronics. A renowned group of authors address key ideas in the materials, processes, mechanics, and devices of soft and stretchable electronics; the wearable electronics systems; and bioinspired and implantable biomedical electronics. Among the topics discussed are liquid metals, stretchable and flexible energy sources, skin-like devices, in vitro neural recording, and more. Special focus is given to recent advances in extremely soft and stretchable bio-inspired electronics with real-world clinical studies that validate the technology. Foundational theoretical and experimental aspects are also covered in relation to the design and application of these biointegrated electronics systems. This is an ideal book for researchers, engineers, and industry professionals involved in developing healthcare devices, medical tools and related instruments relevant to various clinical practices.
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.
Towards Autonomous Robotic Systems
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Author : Kaspar Althoefer
language : en
Publisher: Springer
Release Date : 2019-06-28
Towards Autonomous Robotic Systems written by Kaspar Althoefer and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-06-28 with Computers categories.
The two volumes LNAI 11649 and LNAI 11650 constitute the refereed proceedings of the 20th Annual Conference "Towards Autonomous Robotics", TAROS 2019, held in London, UK, in July 2019. The 74 full papers and 12 short papers presented were carefully reviewed and selected from 101 submissions. The papers present and discuss significant findings and advances in autonomous robotics research and applications. They are organized in the following topical sections: robotic grippers and manipulation; soft robotics, sensing and mobile robots; robotic learning, mapping and planning; human-robot interaction; and robotic systems and applications.