A tactile sensor for the fingertips of the humanoid robot iCub

Alexander Schmitz, Marco Maggiali, Lorenzo Natale, Bruno Bonino, Giorgio Metta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

62 Citations (Scopus)

Abstract

In order to successfully perform object manipulation, humanoid robots must be equipped with tactile sensors. However, the limited space that is available in robotic fingers imposes severe design constraints. In [1] we presented a small prototype fingertip which incorporates a capacitive pressure system. This paper shows an improved version, which has been integrated on the hand of the humanoid robot iCub. The fingertip is 14.5 mm long and 13 mm wide. The capacitive pressure sensor system has 12 sensitive zones and includes the electronics to send the 12 measurements over a serial bus with only 4 wires. Each synthetic fingertip is shaped approximately like a human fingertip. Furthermore, an integral part of the capacitive sensor is soft silicone foam, and therefore the fingertip is compliant. We describe the structure of the fingertip, their integration on the humanoid robot iCub and present test results to show the characteristics of the sensor.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages2212-2217
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 2010 Oct 182010 Oct 22

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Conference

Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/10/1810/10/22

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    Schmitz, A., Maggiali, M., Natale, L., Bonino, B., & Metta, G. (2010). A tactile sensor for the fingertips of the humanoid robot iCub. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 2212-2217). [5648838] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5648838