Vibrissa Based Design Of Tapered Tactile Sensors For Object Sensing
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Vibrissa Based Design Of Tapered Tactile Sensors For Object Sensing
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Author : Carsten Behn
language : en
Publisher:
Release Date : 2017
Vibrissa Based Design Of Tapered Tactile Sensors For Object Sensing written by Carsten Behn 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.
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.
Transactions On Computational Collective Intelligence Xx
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Author : Ngoc Thanh Nguyen
language : en
Publisher: Springer
Release Date : 2016-01-05
Transactions On Computational Collective Intelligence Xx written by Ngoc Thanh Nguyen and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-01-05 with Computers categories.
These transactions publish research in computer-based methods of computational collective intelligence (CCI) and their applications in a wide range of fields such as the semantic Web, social networks, and multi-agent systems. TCCI strives to cover new methodological, theoretical and practical aspects of CCI understood as the form of intelligence that emerges from the collaboration and competition of many individuals (artificial and/or natural). The application of multiple computational intelligence technologies, such as fuzzy systems, evolutionary computation, neural systems, consensus theory, etc., aims to support human and other collective intelligence and to create new forms of CCI in natural and/or artificial systems. This twentieth issue contains 11 carefully selected and revised contributions.
Interdisciplinary Applications Of Kinematics
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Author : Andrés Kecskeméthy
language : en
Publisher: Springer
Release Date : 2019-05-16
Interdisciplinary Applications Of Kinematics written by Andrés Kecskeméthy and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-05-16 with Technology & Engineering categories.
This is the proceedings of the Third Conference on Interdisciplinary Applications of Kinematics (IAK 2018) held in Lima, Peru, March 5–7, 2018. The conference brought together scientists from several research fields, such as computational kinematics, multibody systems, industrial machines, robotics, biomechanics, mechatronics, computational chemistry, and vibration analysis, and embraced all key aspects of kinematics, namely, theoretical methods, modeling, optimization, experimental validation, industrial applications, and design. Kinematics is an exciting area of computational mechanics and plays a central role in a great variety of fields and industrial applications nowadays. Apart from research in pure kinematics, the field deals with problems of practical relevance that need to be solved in an interdisciplinary manner in order for new technologies to develop. The results presented in this book should be of interest for practicing and research engineers as well asPh.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.
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.
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.
Design Finite Element And Experimental Analysis Of Piezoelectric Tactile Sensors For Endoscopic Graspers
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Author : Harpiyar Singh
language : en
Publisher:
Release Date : 2003
Design Finite Element And Experimental Analysis Of Piezoelectric Tactile Sensors For Endoscopic Graspers written by Harpiyar Singh and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003 with Detectors categories.
This dissertation reports on the design, experimentation and the finite element analysis of a prototype PVDF endoscopic tooth-like tactile sensor capable of measuring the compliance of a contact tissue/sensed object. Present day endoscopic graspers are designed tooth-like in order to grasp slippery tissues, but do not measure tissue tactile properties like force and softness. The main objective of this study is to design and model a sensor capable of measuring the total applied force on the sensed object as well as compliance of the tissue/sensed object. The sensor consists of a rigid and compliant cylindrical element. Determination of the compliance of sensed objects is based on the relative deformation of contact object/tissue on the compliant and rigid elements of the sensor. A PVDF film is sandwiched between rigid cylinder and plate, which measures the force applied on the rigid element. Another PVDF film is sandwiched between the two base plates to measure the total force applied on the sensor. Using 2D finite element analysis, the tissue has been modeled as an elastic beam on rigid and elastic foundations and the results are compared with 3D ANSYS model. (Abstract shortened by UMI.).
Vibrissa Inspired Tactile Sensing
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Author : Lukas Merker
language : en
Publisher:
Release Date : 2022*
Vibrissa Inspired Tactile Sensing written by Lukas Merker 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.
High Resolution Tactile Sensing For Reactive Robotic Manipulation
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Author : Siyuan Dong (Ph. D.)
language : en
Publisher:
Release Date : 2021
High Resolution Tactile Sensing For Reactive Robotic Manipulation written by Siyuan Dong (Ph. D.) 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.
This thesis explores tactile sensing to enable reactive behavior in robotic manipulation. More specifically, we focus on developing high-resolution vision-based tactile sensing hardware, perceptual algorithms, and controller designs for robotic manipulation. Tactile sensing plays a key role in human manipulation. However, the existing artificial tactile sensors have multiple limitations in terms of form factor, robustness, and sparse measurement. Tactile sensors are rarely integrated into the current robotic manipulation systems. In this thesis, we design new vision-based tactile sensors that capture the contact surface with high-resolution images and reconstruct the 3D geometry of the contact surface. We first design a variation of the GelSight sensor that improves the accuracy of the depth map reconstruction. To further optimize the form factor and enhance the robustness, we designed another vision-based tactile sensor, GelSlim, which keeps the high-resolution sensing output but has a slimmer former, sharper tip, and improved robustness. Based on the new sensor, we propose algorithms to distill useful contact information from the raw signal output. The key challenge is connecting the contact geometry directly observed from the raw image to contact signals that have meanings in the context of contact mechanics, e.g., contact forces, contact slip. We use an algorithm to track the gel deformation and compare it with a rigid body motion to detect incipient slip. We deploy an inverse Finite Element Method (iFEM) to reconstruct the contact force distribution. Finally, we explore how the tactile signals can be fed into the control loop in real manipulation tasks. We choose 2 representative contact rich manipulation tasks that benefit from tactile control: cable following and object insertion. We implement cable following by sensing & controlling both the state of the grasp of the cable and its configuration in realtime to allow smooth sliding of the fingers along a cable. We train a general tactile-based RL insertion policy in an end-to-end fashion to align the object pose with the insertion hole and keep sticking contact of the grasp by detecting incipient slip during the contact exploration. The RL insertion policy is capable of inserting novel objects, for which we show that tactile feedback is more informative than force-torque feedback.