A New Silicone Structure for uSkin - A Soft, Distributed, Digital 3-Axis Skin Sensor and Its Integration on the Humanoid Robot iCub

Tito Pradhono Tomo, Massimo Regoli, Alexander Schmitz, Lorenzo Natale, Harris Kristanto, Sophon Somlor, Lorenzo Jamone, Giorgio Metta, Shigeki Sugano

研究成果: Article

10 引用 (Scopus)

抄録

Tactile sensing is one important element that can enable robots to interact with an unstructured world. By having tactile perception, a robot can explore its environment by touching objects. Like human skin, a tactile sensor that can provide rich information such as distributed normal and shear forces with high density can help the robot to recognize objects. In previous work, we introduced uSkin, a soft skin with distributed 3-axis force-sensitive elements and a center-to-center distance between the 3-axis load cells of 4.7 mm for the flat version. This letter presents a new structure for the distributed soft force transducer that reduces the crosstalk between the components of the 3-axis force measurements. Three dimensionally (3-D) printing the silicone structure eased the prototype production. However, the 3-D printed material has a higher hysteresis than the previously used Ecoflex. Microcontroller boards originally developed for the skin of iCub were implemented for uSkin, increasing the readout frequency and reducing the space requirements and number of wires. The sensor was installed on iCub and successfully used for shape exploration.

元の言語English
ページ(範囲)2584-2591
ページ数8
ジャーナルIEEE Robotics and Automation Letters
3
発行部数3
DOI
出版物ステータスPublished - 2018 7 1

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Humanoid Robot
Silicones
Skin
Robots
Sensor
Robot
Sensors
Force measurement
Tactile Sensor
Microcontrollers
Crosstalk
Hysteresis
Printing
Microcontroller
Transducers
Transducer
Wire
3D
Sensing
Prototype

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Biomedical Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence
  • Computer Science Applications
  • Computer Vision and Pattern Recognition

これを引用

A New Silicone Structure for uSkin - A Soft, Distributed, Digital 3-Axis Skin Sensor and Its Integration on the Humanoid Robot iCub. / Tomo, Tito Pradhono; Regoli, Massimo; Schmitz, Alexander; Natale, Lorenzo; Kristanto, Harris; Somlor, Sophon; Jamone, Lorenzo; Metta, Giorgio; Sugano, Shigeki.

:: IEEE Robotics and Automation Letters, 巻 3, 番号 3, 01.07.2018, p. 2584-2591.

研究成果: Article

Tomo, Tito Pradhono ; Regoli, Massimo ; Schmitz, Alexander ; Natale, Lorenzo ; Kristanto, Harris ; Somlor, Sophon ; Jamone, Lorenzo ; Metta, Giorgio ; Sugano, Shigeki. / A New Silicone Structure for uSkin - A Soft, Distributed, Digital 3-Axis Skin Sensor and Its Integration on the Humanoid Robot iCub. :: IEEE Robotics and Automation Letters. 2018 ; 巻 3, 番号 3. pp. 2584-2591.
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