Methods and technologies for the implementation of large-scale robot tactile sensors

Alexander Schmitz, Perla Maiolino, Marco Maggiali, Lorenzo Natale, Giorgio Cannata, Giorgio Metta

Research output: Contribution to journalArticle

212 Citations (Scopus)

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.

Original languageEnglish
Article number5771603
Pages (from-to)389-400
Number of pages12
JournalIEEE Transactions on Robotics
Volume27
Issue number3
DOIs
Publication statusPublished - 2011 Jun
Externally publishedYes

Fingerprint

Robots
Sensors
Skin
Pressure sensors
Hysteresis
Wire
Experiments

Keywords

  • Capacitance measurement
  • force and tactile sensing
  • grasping
  • humanoid robots
  • robot tactile systems

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Methods and technologies for the implementation of large-scale robot tactile sensors. / Schmitz, Alexander; Maiolino, Perla; Maggiali, Marco; Natale, Lorenzo; Cannata, Giorgio; Metta, Giorgio.

In: IEEE Transactions on Robotics, Vol. 27, No. 3, 5771603, 06.2011, p. 389-400.

Research output: Contribution to journalArticle

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, vol. 27, no. 3, 5771603, pp. 389-400. https://doi.org/10.1109/TRO.2011.2132930
Schmitz, Alexander ; Maiolino, Perla ; Maggiali, Marco ; Natale, Lorenzo ; Cannata, Giorgio ; Metta, Giorgio. / Methods and technologies for the implementation of large-scale robot tactile sensors. In: IEEE Transactions on Robotics. 2011 ; Vol. 27, No. 3. pp. 389-400.
@article{429ab9d32a0f4c968f3f69d7dda974d0,
title = "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.",
keywords = "Capacitance measurement, force and tactile sensing, grasping, humanoid robots, robot tactile systems",
author = "Alexander Schmitz and Perla Maiolino and Marco Maggiali and Lorenzo Natale and Giorgio Cannata and Giorgio Metta",
year = "2011",
month = "6",
doi = "10.1109/TRO.2011.2132930",
language = "English",
volume = "27",
pages = "389--400",
journal = "IEEE Transactions on Robotics",
issn = "1552-3098",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "3",

}

TY - JOUR

T1 - Methods and technologies for the implementation of large-scale robot tactile sensors

AU - Schmitz, Alexander

AU - Maiolino, Perla

AU - Maggiali, Marco

AU - Natale, Lorenzo

AU - Cannata, Giorgio

AU - Metta, Giorgio

PY - 2011/6

Y1 - 2011/6

N2 - 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.

AB - 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.

KW - Capacitance measurement

KW - force and tactile sensing

KW - grasping

KW - humanoid robots

KW - robot tactile systems

UR - http://www.scopus.com/inward/record.url?scp=79958772671&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=79958772671&partnerID=8YFLogxK

U2 - 10.1109/TRO.2011.2132930

DO - 10.1109/TRO.2011.2132930

M3 - Article

AN - SCOPUS:79958772671

VL - 27

SP - 389

EP - 400

JO - IEEE Transactions on Robotics

JF - IEEE Transactions on Robotics

SN - 1552-3098

IS - 3

M1 - 5771603

ER -