Low-cost 3-axis soft tactile sensors for the human-friendly robot Vizzy

Tiago Paulino, Pedro Ribeiro, Miguel Neto, Susana Cardoso, Alexander Schmitz, Jose Santos-Victor, Alexandre Bernardino, Lorenzo Jamone

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

    26 Citations (Scopus)

    Abstract

    In this paper we present a low-cost and easy to fabricate 3-axis tactile sensor based on magnetic technology. The sensor consists in a small magnet immersed in a silicone body with an Hall-effect sensor placed below to detect changes in the magnetic field caused by displacements of the magnet, generated by an external force applied to the silicone body. The use of a 3-axis Hall-effect sensor allows to detect the three components of the force vector, and the proposed design assures high sensitivity, low hysteresis and good repeatability of the measurement: notably, the minimum sensed force is about 0.007N. All components are cheap and easy to retrieve and to assemble; the fabrication process is described in detail and it can be easily replicated by other researchers. Sensors with different geometries have been fabricated, calibrated and successfully integrated in the hand of the human-friendly robot Vizzy. In addition to the sensor characterization and validation, real world experiments of object manipulation are reported, showing proper detection of both normal and shear forces.

    Original languageEnglish
    Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages966-971
    Number of pages6
    ISBN (Electronic)9781509046331
    DOIs
    Publication statusPublished - 2017 Jul 21
    Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
    Duration: 2017 May 292017 Jun 3

    Other

    Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
    CountrySingapore
    CitySingapore
    Period17/5/2917/6/3

    Fingerprint

    Robots
    Sensors
    Costs
    Hall effect
    Silicones
    Magnets
    End effectors
    Hysteresis
    Magnetic fields
    Fabrication
    Geometry
    Experiments

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Artificial Intelligence
    • Electrical and Electronic Engineering

    Cite this

    Paulino, T., Ribeiro, P., Neto, M., Cardoso, S., Schmitz, A., Santos-Victor, J., ... Jamone, L. (2017). Low-cost 3-axis soft tactile sensors for the human-friendly robot Vizzy. In ICRA 2017 - IEEE International Conference on Robotics and Automation (pp. 966-971). [7989118] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2017.7989118

    Low-cost 3-axis soft tactile sensors for the human-friendly robot Vizzy. / Paulino, Tiago; Ribeiro, Pedro; Neto, Miguel; Cardoso, Susana; Schmitz, Alexander; Santos-Victor, Jose; Bernardino, Alexandre; Jamone, Lorenzo.

    ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. p. 966-971 7989118.

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

    Paulino, T, Ribeiro, P, Neto, M, Cardoso, S, Schmitz, A, Santos-Victor, J, Bernardino, A & Jamone, L 2017, Low-cost 3-axis soft tactile sensors for the human-friendly robot Vizzy. in ICRA 2017 - IEEE International Conference on Robotics and Automation., 7989118, Institute of Electrical and Electronics Engineers Inc., pp. 966-971, 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, 17/5/29. https://doi.org/10.1109/ICRA.2017.7989118
    Paulino T, Ribeiro P, Neto M, Cardoso S, Schmitz A, Santos-Victor J et al. Low-cost 3-axis soft tactile sensors for the human-friendly robot Vizzy. In ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2017. p. 966-971. 7989118 https://doi.org/10.1109/ICRA.2017.7989118
    Paulino, Tiago ; Ribeiro, Pedro ; Neto, Miguel ; Cardoso, Susana ; Schmitz, Alexander ; Santos-Victor, Jose ; Bernardino, Alexandre ; Jamone, Lorenzo. / Low-cost 3-axis soft tactile sensors for the human-friendly robot Vizzy. ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 966-971
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