Affiliation:
1. Department of Mechanical Engineering, University of California , Berkeley, Berkeley, CA 94720
Abstract
Abstract
Tactile sensors are essential to robot hands that deal with various objects and interact with the environment. Soft tactile sensors are especially important to capture tactile information about delicate, irregular-shaped, or unknown objects. This paper introduces a soft tactile sensor that can simultaneously estimate the contact force, contact feature, and contact point. Inspired by multifunctional human skin, the proposed design has a dual-layer structure and is multifunctional. The top layer consists of a group of sensing elements that detect the contact location and contact feature enhanced by the bagging classifier based on the k-nearest neighbors. The sensor elements were biomimetically and analytically designed as a pyramid shape that mimicked the mountain ridge-like structure in human skin to improve sensitivity. The bottom layer was made by a piece of Velostat sandwiched between conductive fabrics that can measure the contact force. The relationship between the sensing voltage and the contact force was modeled by the Nadaraya–Watson regressor. The performance of the proposed sensor was verified by a repeatability test. Furthermore, we demonstrated the effectiveness of the proposed sensor on a robotic gripper. The experimental results show that this sensor is able to detect contact information of fragile objects.
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Cited by
6 articles.
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1. Control of Soft Pneumatic Actuators with Approximated Dynamical Modeling;2023 IEEE International Conference on Robotics and Biomimetics (ROBIO);2023-12-04
2. Interdigital flexible tactile sensor based on Velostat;Sensor Review;2023-08-01
3. Machine Learning Based Characterization of a Waterproofed Soft Multi-Directional Force Sensor;2023 IEEE International Conference on Flexible and Printable Sensors and Systems (FLEPS);2023-07-09
4. Design, Modeling, and Parametric Analysis of a Syringe Pump for Soft Pneumatic Actuators;2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM);2023-06-28
5. Mechanical Modeling and Optimal Model-based Design of a Soft Pneumatic Actuator;2023 IEEE International Conference on Soft Robotics (RoboSoft);2023-04-03