Tactile Robotic Skin with Pressure Direction Detection

Author:

Klimaszewski JanORCID,Janczak DanielORCID,Piorun Paweł

Abstract

Tactile sensing is the current challenge in robotics and object manipulation by machines. The robot’s agile interaction with the environment requires pressure sensors to detect not only location and value, but also touch direction. The paper presents a new, two-layer construction of artificial robotic skin, which allows measuring the location, value, and direction of pressure from external force. The main advantages of the proposed solution are its low cost of implementation based on two FSR (Force Sensitive Resistor) matrices and real-time operation thanks to direction detection using fast matching algorithms. The main contribution is the idea of detecting the pressure direction by determining the shift between the pressure maps of the skin’s upper and lower layers. The pressure map of each layer is treated as an image and registered using a phase correlation (POC–Phase Only Correlation) method. The use of the developed device can be very wide. For example, in the field of cooperative robots, it can lead to the improvement of human machine interfaces and increased security of human–machine cooperation. The proposed construction can help meet the increasing requirements for robots in cooperation with humans, but also enable agile manipulation of objects from their surroundings.

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry

Cited by 24 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Recent developments in stretchable and flexible tactile sensors towards piezoresistive systems: A review;Polymers for Advanced Technologies;2023-12-10

2. AcouSkin: Full Surface Contact localization Using Acoustic Waves;2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS);2023-10-01

3. A Comprehensive Review: Interaction of Appearance and Behavior, Artificial Skin, and Humanoid Robot;Journal of Robotics;2023-05-19

4. Researching Sensors for Dynamic Forces on Cobots;Lecture Notes in Mechanical Engineering;2023

5. Versatile Robotic Workstation for Electronic Skin - Problems and Solutions;Digital Interaction and Machine Intelligence;2023

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3