Improvement of tactile capacitive sensors of the humanoid robot iCub's fingertips

A. Ascia, M. Biso, A. Ansaldo, Alexander Schmitz, D. Ricci, L. Natale, G. Metta, G. Sandini

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

2 Citations (Scopus)

Abstract

Humanoid robots use tactile fingertips to perform object manipulation. In this paper, an improved prototype of a tactile capacitive fingertip for the hands of the humanoid robot iCub is presented. In particular, a conductive silicone based material has been used to improve the characteristics of the capacitive sensor and an additional silicone foam layer has been also introduced in the sensor architecture to prevent behavior variation due to fingertip deterioration (e.g., caused by object manipulation). A characterization of the fingertip sensing behavior is presented. This work is funded by the European Commission as part of the project ICT-FP7-231500 RoboSKIN.

Original languageEnglish
Title of host publicationProceedings of IEEE Sensors
Pages504-507
Number of pages4
DOIs
Publication statusPublished - 2011
Externally publishedYes
Event10th IEEE SENSORS Conference 2011, SENSORS 2011 - Limerick
Duration: 2011 Oct 282011 Oct 31

Other

Other10th IEEE SENSORS Conference 2011, SENSORS 2011
CityLimerick
Period11/10/2811/10/31

Fingerprint

Capacitive sensors
Silicones
Robots
End effectors
Deterioration
Foams
Sensors

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Ascia, A., Biso, M., Ansaldo, A., Schmitz, A., Ricci, D., Natale, L., ... Sandini, G. (2011). Improvement of tactile capacitive sensors of the humanoid robot iCub's fingertips. In Proceedings of IEEE Sensors (pp. 504-507). [6127098] https://doi.org/10.1109/ICSENS.2011.6127098

Improvement of tactile capacitive sensors of the humanoid robot iCub's fingertips. / Ascia, A.; Biso, M.; Ansaldo, A.; Schmitz, Alexander; Ricci, D.; Natale, L.; Metta, G.; Sandini, G.

Proceedings of IEEE Sensors. 2011. p. 504-507 6127098.

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

Ascia, A, Biso, M, Ansaldo, A, Schmitz, A, Ricci, D, Natale, L, Metta, G & Sandini, G 2011, Improvement of tactile capacitive sensors of the humanoid robot iCub's fingertips. in Proceedings of IEEE Sensors., 6127098, pp. 504-507, 10th IEEE SENSORS Conference 2011, SENSORS 2011, Limerick, 11/10/28. https://doi.org/10.1109/ICSENS.2011.6127098
Ascia A, Biso M, Ansaldo A, Schmitz A, Ricci D, Natale L et al. Improvement of tactile capacitive sensors of the humanoid robot iCub's fingertips. In Proceedings of IEEE Sensors. 2011. p. 504-507. 6127098 https://doi.org/10.1109/ICSENS.2011.6127098
Ascia, A. ; Biso, M. ; Ansaldo, A. ; Schmitz, Alexander ; Ricci, D. ; Natale, L. ; Metta, G. ; Sandini, G. / Improvement of tactile capacitive sensors of the humanoid robot iCub's fingertips. Proceedings of IEEE Sensors. 2011. pp. 504-507
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