Pub Date : 2018-04-01DOI: 10.1109/ROBOSOFT.2018.8404940
C. Cao, S. Burgess, A. Conn
Insect-inspired flapping wing micro air vehicles (MAV) have attracted considerable interest due to their potential for agile flight in complex environments. Resonant excitation of the wing flapping mechanism in insects is highly advantageous as it amplifies the flapping amplitude and reduces the inertial power demand. Dielectric elastomer actuators (DEA) produce large actuation strain and their inherent elasticity is ideal for resonant operation. In this work we present a double cone DEA design and characterize its resonant frequency and phase shift to analyze its mechanical power output as a DEA-mass oscillator. Then an artificial thorax driven by this elastic actuator is demonstrated, this thorax design is able to provide a peak flapping amplitude of 63° at a frequency of 18 Hz.
{"title":"Flapping at resonance: Realization of an electroactive elastic thorax","authors":"C. Cao, S. Burgess, A. Conn","doi":"10.1109/ROBOSOFT.2018.8404940","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404940","url":null,"abstract":"Insect-inspired flapping wing micro air vehicles (MAV) have attracted considerable interest due to their potential for agile flight in complex environments. Resonant excitation of the wing flapping mechanism in insects is highly advantageous as it amplifies the flapping amplitude and reduces the inertial power demand. Dielectric elastomer actuators (DEA) produce large actuation strain and their inherent elasticity is ideal for resonant operation. In this work we present a double cone DEA design and characterize its resonant frequency and phase shift to analyze its mechanical power output as a DEA-mass oscillator. Then an artificial thorax driven by this elastic actuator is demonstrated, this thorax design is able to provide a peak flapping amplitude of 63° at a frequency of 18 Hz.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"33 1-2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133983251","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-01DOI: 10.1109/ROBOSOFT.2018.8404955
P. Nguyen, N. Huynh, T. T. Phan, V. A. Ho
Locking two surfaces with minimum normal force may result in safe grasping of objects in soft robotic hands. This paper presents a preliminary approach on design and analysis of a bio-inspired soft pad that enhances the adhesion with the environment by morphological design of its surface at micro-scale. The design principle is originated from the biological wet attachment of a tree-frog toes with the surrounding environment, caused by capillary force and surface tension of a secretion film between the toe and the surface. Especially, the tree-frog's toe has a network of polygonal cells (or blocks) with grooves among them, which act as liquid reservoirs and capillary tubes. We conducted some analysis on this wet adhesion principle, showing that total normal force increases with the grooved pattern compared to the that of the flat one in wet condition. We then fabricated a micro-patterned mold, using e-beam technology, for casting grooved surface onto a silicon substrate. We also conducted preliminary investigation of the adhesion strength of the fabricated soft pad with measurement of normal force under wet and dry condition. This is the first time wet adhesion was considered in soft robotic grasping, and this research is expected to be applied in wet and high-moisture environment.
{"title":"Soft grasping with wet adhesion: Preliminary evaluation","authors":"P. Nguyen, N. Huynh, T. T. Phan, V. A. Ho","doi":"10.1109/ROBOSOFT.2018.8404955","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404955","url":null,"abstract":"Locking two surfaces with minimum normal force may result in safe grasping of objects in soft robotic hands. This paper presents a preliminary approach on design and analysis of a bio-inspired soft pad that enhances the adhesion with the environment by morphological design of its surface at micro-scale. The design principle is originated from the biological wet attachment of a tree-frog toes with the surrounding environment, caused by capillary force and surface tension of a secretion film between the toe and the surface. Especially, the tree-frog's toe has a network of polygonal cells (or blocks) with grooves among them, which act as liquid reservoirs and capillary tubes. We conducted some analysis on this wet adhesion principle, showing that total normal force increases with the grooved pattern compared to the that of the flat one in wet condition. We then fabricated a micro-patterned mold, using e-beam technology, for casting grooved surface onto a silicon substrate. We also conducted preliminary investigation of the adhesion strength of the fabricated soft pad with measurement of normal force under wet and dry condition. This is the first time wet adhesion was considered in soft robotic grasping, and this research is expected to be applied in wet and high-moisture environment.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134208490","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-01DOI: 10.1109/ROBOSOFT.2018.8405369
T. Umedachi, Y. Kawahara
This paper presents a lightweight caterpillar-inspired soft-bodied robot that produces crawling locomotion on a stick. The significant features are passive-grip/active-release opposable legs and dual elastic arch structure to couple the segment contraction and the leg opening. These actuations are driven by a shape memory alloy (SMA) coil attached along the body axis. The mechanical design allows the robot to hold the unstable substrate without energy consumption. We find that adequate activation time lag between the legs/segments exists but the system is not sensitive to the parameter changes thanks to the softness of the body. The robot can build very cheap (less than 30 US dollars) to 3d-print using hard and rubber-like materials together, which doesn't require any assembly labor to build the body.
{"title":"Caterpillar-inspired crawling robot on a stick using active-release and passive-grip elastic legs","authors":"T. Umedachi, Y. Kawahara","doi":"10.1109/ROBOSOFT.2018.8405369","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8405369","url":null,"abstract":"This paper presents a lightweight caterpillar-inspired soft-bodied robot that produces crawling locomotion on a stick. The significant features are passive-grip/active-release opposable legs and dual elastic arch structure to couple the segment contraction and the leg opening. These actuations are driven by a shape memory alloy (SMA) coil attached along the body axis. The mechanical design allows the robot to hold the unstable substrate without energy consumption. We find that adequate activation time lag between the legs/segments exists but the system is not sensitive to the parameter changes thanks to the softness of the body. The robot can build very cheap (less than 30 US dollars) to 3d-print using hard and rubber-like materials together, which doesn't require any assembly labor to build the body.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"383 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129136041","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-01DOI: 10.1109/ROBOSOFT.2018.8404952
B. Gorissen, E. Milana, D. Reynaerts, Michaël De Voider
This paper reports on a piezoresistive strain sensor that uses vertically aligned carbon nanotube (CNT) filler elements which are embedded in a rubber matrix. Compared to previously used conductive filler elements, vertical CNTs can be patterned using lithography, making it possible to scale down the sensor footprint into the micrometer range. This technological advancement is instrumental for developing intelligent soft microrobots with embedded flexible sensors. We compare vertical CNTs and carbon black as filler elements, where newly developed lithographic production techniques are applied to shape a generic strain sensor topology that is compatible with the majority of planar inflatable microactuators. This research shows a significant improvement in sensor linearity by using vertical CNTs as filler elements over carbon black. Further, a lithographically fabricated strain sensor has been successfully embedded in an elastic inflatable bending microactuator with outer dimensions of 5.5×1×0.06mm3. The full lithographic production process to create this actuator is described in this paper, together with its characterization under a static pressure input.
{"title":"Lithographic production of vertically aligned CNT strain sensors for integration in soft robotic microactuators","authors":"B. Gorissen, E. Milana, D. Reynaerts, Michaël De Voider","doi":"10.1109/ROBOSOFT.2018.8404952","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404952","url":null,"abstract":"This paper reports on a piezoresistive strain sensor that uses vertically aligned carbon nanotube (CNT) filler elements which are embedded in a rubber matrix. Compared to previously used conductive filler elements, vertical CNTs can be patterned using lithography, making it possible to scale down the sensor footprint into the micrometer range. This technological advancement is instrumental for developing intelligent soft microrobots with embedded flexible sensors. We compare vertical CNTs and carbon black as filler elements, where newly developed lithographic production techniques are applied to shape a generic strain sensor topology that is compatible with the majority of planar inflatable microactuators. This research shows a significant improvement in sensor linearity by using vertical CNTs as filler elements over carbon black. Further, a lithographically fabricated strain sensor has been successfully embedded in an elastic inflatable bending microactuator with outer dimensions of 5.5×1×0.06mm3. The full lithographic production process to create this actuator is described in this paper, together with its characterization under a static pressure input.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124371319","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-01DOI: 10.1109/ROBOSOFT.2018.8405366
Miranda M. Tanouye, V. Vikas
Soft material robots have potential for deployment in dynamic environments, e.g. search and rescue operations, owing to their impact resistance and adaptability. However, these advantages are accompanied by challenges of robot control and surface identification. The continuum, soft material robot body interacts uniquely with different environments e.g. a smooth table or a rough carpet. These interactions with the surface can be discretized and modeled using graph theory. This representation allows the robot to learn from its surroundings and generate environment-specific locomotion control sequences. Here, simple cycles of individual graphs are analogous to periodic locomotion gaits of the soft robot. Inversely, provided the knowledge of different environments (captured in the individual graphs), the robot has ability to optimally identify the environment through experimentation and interaction. This paper presents a method for soft robots to a) optimally learn the environment and b) determine optimized movements for identifying the surface of locomotion by utilizing the information from previously experienced environments. The optimized movements are identified as arcs, paths and simple cycles that yield the most contrasting costs. The surface identification is performed by analyzing the locomotion cost differential between the experienced surface interaction and that of a previously known environment. The learning and control algorithms (Eulerian path, simple cycles) are ‘arc-centric’ i.e. focus on traversing arcs. Whereas surface identification algorithms are ‘node-centric’ i.e. focus on traversing nodes (simple paths).
{"title":"Optimal learning and surface identification for terrestrial soft robots","authors":"Miranda M. Tanouye, V. Vikas","doi":"10.1109/ROBOSOFT.2018.8405366","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8405366","url":null,"abstract":"Soft material robots have potential for deployment in dynamic environments, e.g. search and rescue operations, owing to their impact resistance and adaptability. However, these advantages are accompanied by challenges of robot control and surface identification. The continuum, soft material robot body interacts uniquely with different environments e.g. a smooth table or a rough carpet. These interactions with the surface can be discretized and modeled using graph theory. This representation allows the robot to learn from its surroundings and generate environment-specific locomotion control sequences. Here, simple cycles of individual graphs are analogous to periodic locomotion gaits of the soft robot. Inversely, provided the knowledge of different environments (captured in the individual graphs), the robot has ability to optimally identify the environment through experimentation and interaction. This paper presents a method for soft robots to a) optimally learn the environment and b) determine optimized movements for identifying the surface of locomotion by utilizing the information from previously experienced environments. The optimized movements are identified as arcs, paths and simple cycles that yield the most contrasting costs. The surface identification is performed by analyzing the locomotion cost differential between the experienced surface interaction and that of a previously known environment. The learning and control algorithms (Eulerian path, simple cycles) are ‘arc-centric’ i.e. focus on traversing arcs. Whereas surface identification algorithms are ‘node-centric’ i.e. focus on traversing nodes (simple paths).","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122832844","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-01DOI: 10.1109/ROBOSOFT.2018.8404954
Jianshu Zhou, Xiaojiao Chen, Jing Li, Y. Tian, Zheng Wang
In this paper, we present a compliant robotic gripper, Edgy-2, with 4-DOF dexterity, enabling four grasping modes: parallel grasping, power grasping, finger-tip pinch and fully-actuated grasping. The roboticfinger is based on soft-rigid-hybrid structures, combining fiber-reinforced soft pneumatic actuators with rigid joints, which exhibit reliable structural rigidity and grasping robustness while maintaining excellent adaptability and inherent compliance. With both grasping dexterity and grasping robustness, the Edgy-2 achieves excellent grasping reliability with various daily objects, from a fragile cherry to a 2 kg water bottled water. The relationship of design parameters and grasping strength is presented with analytical models. The performance of a prototype Edgy-2 is verified by dedicated experiments. The proposed hybrid dexterous grasping approach can be easily extended into different end-effector designs according to application requirements. The proposed mechanism for grasping provides excellent human-robot interaction safety and reliability.
{"title":"A soft robotic approach to robust and dexterous grasping","authors":"Jianshu Zhou, Xiaojiao Chen, Jing Li, Y. Tian, Zheng Wang","doi":"10.1109/ROBOSOFT.2018.8404954","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404954","url":null,"abstract":"In this paper, we present a compliant robotic gripper, Edgy-2, with 4-DOF dexterity, enabling four grasping modes: parallel grasping, power grasping, finger-tip pinch and fully-actuated grasping. The roboticfinger is based on soft-rigid-hybrid structures, combining fiber-reinforced soft pneumatic actuators with rigid joints, which exhibit reliable structural rigidity and grasping robustness while maintaining excellent adaptability and inherent compliance. With both grasping dexterity and grasping robustness, the Edgy-2 achieves excellent grasping reliability with various daily objects, from a fragile cherry to a 2 kg water bottled water. The relationship of design parameters and grasping strength is presented with analytical models. The performance of a prototype Edgy-2 is verified by dedicated experiments. The proposed hybrid dexterous grasping approach can be easily extended into different end-effector designs according to application requirements. The proposed mechanism for grasping provides excellent human-robot interaction safety and reliability.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115550214","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-01DOI: 10.1109/ROBOSOFT.2018.8404953
A. Suárez, A. Giordano, K. Kondak, G. Heredia, A. Ollero
This paper proposes the application of long reach manipulators (LRM) in aerial manipulation, attaching a human size and lightweight dual arm at the tip of a flexible link installed at the base of the aerial platform. This configuration extends the reach and the volume of operation of the manipulator, whose workspace is constrained by the propellers and the landing gear, increasing also safety during the physical interactions on flight between the aerial robot and the environment. The deflection of the flexible link is exploited for collision detection and obstacle localization, allowing also the control of the contact force exerted by the arms. These capabilities are supported by a vision system that measures the deflection at the tip. Undesired oscillations of the link are suppressed generating a coordinated motion with the arms. Experiments in a fixed base test bench are conducted for validating the developed functionalities.
{"title":"Flexible link long reach manipulator with lightweight dual arm: Soft-collision detection, reaction, and obstacle localization","authors":"A. Suárez, A. Giordano, K. Kondak, G. Heredia, A. Ollero","doi":"10.1109/ROBOSOFT.2018.8404953","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404953","url":null,"abstract":"This paper proposes the application of long reach manipulators (LRM) in aerial manipulation, attaching a human size and lightweight dual arm at the tip of a flexible link installed at the base of the aerial platform. This configuration extends the reach and the volume of operation of the manipulator, whose workspace is constrained by the propellers and the landing gear, increasing also safety during the physical interactions on flight between the aerial robot and the environment. The deflection of the flexible link is exploited for collision detection and obstacle localization, allowing also the control of the contact force exerted by the arms. These capabilities are supported by a vision system that measures the deflection at the tip. Undesired oscillations of the link are suppressed generating a coordinated motion with the arms. Experiments in a fixed base test bench are conducted for validating the developed functionalities.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122153507","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-01DOI: 10.1109/ROBOSOFT.2018.8405365
A. Agarwal, V. Viswanathan, S. Maheshwari, P. Alvarado
In this study a cable actuated soft gripper is used to analyze the effects of finger material properties on grasping forces. The gripper design and the fabrication of soft fingers using materials of varying elastic moduli are presented. A model to predict the holding force of each gripper configuration is introduced and predictions are compared to results from grasping experiments. The experiments show a decrease in grasping force with increasing finger stiffness when normalized for the cable tension as predicted by the model.
{"title":"Effects of material properties on soft gripper grasping forces","authors":"A. Agarwal, V. Viswanathan, S. Maheshwari, P. Alvarado","doi":"10.1109/ROBOSOFT.2018.8405365","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8405365","url":null,"abstract":"In this study a cable actuated soft gripper is used to analyze the effects of finger material properties on grasping forces. The gripper design and the fabrication of soft fingers using materials of varying elastic moduli are presented. A model to predict the holding force of each gripper configuration is introduced and predictions are compared to results from grasping experiments. The experiments show a decrease in grasping force with increasing finger stiffness when normalized for the cable tension as predicted by the model.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131066867","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-01DOI: 10.1109/ROBOSOFT.2018.8404902
Shinsuke Nakashima, Takuma Shirai, Yuki Asano, Youhei Kakiuchi, K. Okada, M. Inaba
Bio-inspired self-healing and self-sensing capability makes current robots more fault tolerant. On the other hand, conventional self-healing components lack self-sensing capability of their fault states and progress of healing due to system complexity. For achieving this challenge, we devised active self-melting bolt with self-sensing system of its fracture and temperature. The system utilizes electric resistance values of the bolt module itself for minimizing additional components and wiring. The system is composed of two subsystems: fracture detecting system and strength feedback system. We describe its principle and manufacturing process for the proposed system. Its feasibility was partially validated by preliminary tensile test using motor-driven tendon unit previously developed by our research group.
{"title":"Resistance-based self-sensing system of active self-melting bolt towards autonomous healing structure","authors":"Shinsuke Nakashima, Takuma Shirai, Yuki Asano, Youhei Kakiuchi, K. Okada, M. Inaba","doi":"10.1109/ROBOSOFT.2018.8404902","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404902","url":null,"abstract":"Bio-inspired self-healing and self-sensing capability makes current robots more fault tolerant. On the other hand, conventional self-healing components lack self-sensing capability of their fault states and progress of healing due to system complexity. For achieving this challenge, we devised active self-melting bolt with self-sensing system of its fracture and temperature. The system utilizes electric resistance values of the bolt module itself for minimizing additional components and wiring. The system is composed of two subsystems: fracture detecting system and strength feedback system. We describe its principle and manufacturing process for the proposed system. Its feasibility was partially validated by preliminary tensile test using motor-driven tendon unit previously developed by our research group.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127636893","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This study proposes a bendable and stretchable tactile sensors array and its data acquisition circuit with the aim of realizing a tough tactile skin for robotic surface. Its pressure sensitive part consists of conductive fabrics and pressure-conductive rubber sheets arranged in a matrix form. The entire pressure sensitive part is covered with silicone rubber, which makes up for not only the weakness to mechanical damage and water wetness but also the lack of restoring force. The data acquisition circuit consists of a small number of electronic components. The experimental result shows that each tactile cell of the sensor can detect normal force of 0.7N ∼ 3N with small hysteresis and high repeatability, the sensor can detect force distribution without inaccurate sensing due to a wraparound current, and the mechanical properties of the sensor are suitable for practical use in tough conditions.
{"title":"Tough, bendable and stretchable tactile sensors array for covering robot surfaces","authors":"Yuji Hirai, Yosuke Suzuki, Tokuo Tsuji, Tetsuyou Watanabe","doi":"10.1109/ROBOSOFT.2018.8404932","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404932","url":null,"abstract":"This study proposes a bendable and stretchable tactile sensors array and its data acquisition circuit with the aim of realizing a tough tactile skin for robotic surface. Its pressure sensitive part consists of conductive fabrics and pressure-conductive rubber sheets arranged in a matrix form. The entire pressure sensitive part is covered with silicone rubber, which makes up for not only the weakness to mechanical damage and water wetness but also the lack of restoring force. The data acquisition circuit consists of a small number of electronic components. The experimental result shows that each tactile cell of the sensor can detect normal force of 0.7N ∼ 3N with small hysteresis and high repeatability, the sensor can detect force distribution without inaccurate sensing due to a wraparound current, and the mechanical properties of the sensor are suitable for practical use in tough conditions.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"221 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133611224","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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