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Methods and Technologies for the Implementation of Large-Scale Robot Tactile Sensors
Abstract
Even though the sense of touch is crucial for humans, most humanoid robots lack tactile sensing. While a large number of sensing technologies exist, it is not trivial to incorporate them into a robot. We have developed a compliant “skin” for humanoids that integrates a distributed pressure sensor based on capacitive technology. The skin is modular and can be deployed on nonflat surfaces. Each module scans locally a limited number of tactile-sensing elements and sends the data through a serial bus. This is a critical advantage as it reduces the number of wires. The resulting system is compact and has been successfully integrated into three different humanoid robots. We have performed tests that show that the sensor has favorable characteristics and implemented algorithms to compensate the hysteresis and drift of the sensor. Experiments with the humanoid robot iCub prove that the sensors can be used to grasp unmodeled, fragile objects.
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Cited by
Hammock, M. L., Chortos, A., Tee, B. C. ‐., Tok, J. B. ‐., & Bao, Z. (2013) · Advanced Materials · doi:10.1002/adma.201302240 · Cited by 2,396
Energy autonomous electronic skin
García Núñez, C., Manjakkal, L., & Dahiya, R. (2019) · npj Flexible Electronics · doi:10.1038/s41528-018-0045-x · Cited by 332
“Reprinted with permission from Cannata et al.(49,53) The 3D reconstruction of a skin patch placed on g a container, and h a KUKA LWR arm.”
MethodA neuro-inspired artificial peripheral nervous system for scalable electronic skins
Lee, W. W., Tan, Y. J., Yao, H., Li, S., See, H. H., Hon, M., Ng, K. A., Xiong, B., Ho, J. S., & Tee, B. C. K. (2019) · Science Robotics · doi:10.1126/scirobotics.aax2198 · Cited by 318
Large-Area Soft e-Skin: The Challenges Beyond Sensor Designs
Dahiya, R., Yogeswaran, N., Liu, F., Manjakkal, L., Burdet, E., Hayward, V., & Jörntell, H. (2019) · Proceedings of the IEEE · doi:10.1109/jproc.2019.2941366 · Cited by 309
Bartolozzi, C., Natale, L., Nori, F., & Metta, G. (2016) · Nature Materials · doi:10.1038/nmat4731 · Cited by 308
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Metadata
- Authors
- Schmitz, A., Maiolino, P., Maggiali, M., Natale, L., Cannata, G., & Metta, G.
- Venue
- IEEE Transactions on Robotics
- Published
- 2011-06
- Volume
- 27
- Issue
- 3
- Pages
- 389-400
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W2133835651
- Cited by
- 418
- References
- 0
- FWCI
- 39.83
- Type
- journal article
- Language
- en
- Open access
- closed
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- Schmitz, A., Maiolino, P., Maggiali, M., Natale, L., Cannata, G., & Metta, G. (2011). Methods and Technologies for the Implementation of Large-Scale Robot Tactile Sensors. IEEE Transactions on Robotics. https://doi.org/10.1109/tro.2011.2132930
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
