Touch sensors for humanoid hands

Alexander Schmitz, Marco Maggiali, Lorenzo Natale, Giorgio Metta

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

12 Citations (Scopus)

Abstract

The sense of touch is of major importance for object handling. Nevertheless, adequate cutaneous sensors for humanoid robot hands are still missing. Designing such sensors is challenging, because they should not only give reliable measurements and integrate many sensing points into little space, but they should also be compliant and should not obstruct the other functions of the robot. This paper presents a capacitive pressure sensor system with 108 sensitive zones for the hands of the humanoid robot iCub. In particular, the palm has 48 taxels and each of the five fingertips has 12 taxels. The size and the shape of the hand are similar to that of a human child. When designing the sensors, we paid special attention to the integration on the robot. Also the ease and speed of production was an important design factor. Furthermore, the sensor incorporates silicone foam and is therefore compliant. We show the working principle of the sensor, how it has been integrated into the hands, and describe experiments that have been performed to show the characteristics of the sensor.

Original languageEnglish
Title of host publicationProceedings - IEEE International Workshop on Robot and Human Interactive Communication
Pages691-697
Number of pages7
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010 - Viareggio
Duration: 2010 Sep 122010 Sep 15

Other

Other19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010
CityViareggio
Period10/9/1210/9/15

Fingerprint

Sensors
Robots
End effectors
Capacitive sensors
Pressure sensors
Silicones
Foams
Experiments

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Schmitz, A., Maggiali, M., Natale, L., & Metta, G. (2010). Touch sensors for humanoid hands. In Proceedings - IEEE International Workshop on Robot and Human Interactive Communication (pp. 691-697). [5598609] https://doi.org/10.1109/ROMAN.2010.5598609

Touch sensors for humanoid hands. / Schmitz, Alexander; Maggiali, Marco; Natale, Lorenzo; Metta, Giorgio.

Proceedings - IEEE International Workshop on Robot and Human Interactive Communication. 2010. p. 691-697 5598609.

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

Schmitz, A, Maggiali, M, Natale, L & Metta, G 2010, Touch sensors for humanoid hands. in Proceedings - IEEE International Workshop on Robot and Human Interactive Communication., 5598609, pp. 691-697, 19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010, Viareggio, 10/9/12. https://doi.org/10.1109/ROMAN.2010.5598609
Schmitz A, Maggiali M, Natale L, Metta G. Touch sensors for humanoid hands. In Proceedings - IEEE International Workshop on Robot and Human Interactive Communication. 2010. p. 691-697. 5598609 https://doi.org/10.1109/ROMAN.2010.5598609
Schmitz, Alexander ; Maggiali, Marco ; Natale, Lorenzo ; Metta, Giorgio. / Touch sensors for humanoid hands. Proceedings - IEEE International Workshop on Robot and Human Interactive Communication. 2010. pp. 691-697
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