Covering a Robot Fingertip with uSkin: A Soft Electronic Skin with Distributed 3-Axis Force Sensitive Elements for Robot Hands

Tito Pradhono Tomo*, Alexander Schmitz, Wai Keat Wong, Harris Kristanto, Sophon Somlor, Jinsun Hwang, Lorenzo Jamone, Shigeki Sugano

*この研究の対応する著者

研究成果査読

51 被引用数 (Scopus)

抄録

Distributed tactile sensing is crucial to perform stable, subtle, and precise manipulation so that a robot can recognize and handle objects properly. However, currently existing skin sensors still have common problems such as complex and expensive production or are difficult to integrate into robot hands. In particular, a practical distributed soft skin sensor system that can cover various parts of the robot hand, measure force in 3-axis, with a subcentimeter spatial density, and digital output at the same time does not exist yet. This letter discusses uSkin, a soft, distributed, 3-axis force sensor for robot hands and presents its implementation for multicurved fingertips. The sensor is low-cost, easy to manufacture, and can measure normal and shear forces. The experimental results revealed that this sensor has 10% hysteresis for perpendicular force with a maximum range of 6 N. The Signal to Noise Ratio (SNR) value of 54 dB for 0.4 N load was achieved, which constitutes the state of the art for this kind of sensors. Evaluation experiments also showed that the distributed 3-axis load cells could produce vectors that represent the shape of objects. This opens the possibility that the sensor can be used for classifying different shapes. Furthermore, the fingertip sensor was installed on the Allegro hand and the changing force measurements when the robot is grasping an object are presented.

本文言語English
論文番号8000399
ページ(範囲)124-131
ページ数8
ジャーナルIEEE Robotics and Automation Letters
3
1
DOI
出版ステータスPublished - 2018 1

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 生体医工学
  • 人間とコンピュータの相互作用
  • 機械工学
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用
  • 制御と最適化
  • 人工知能

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