Contact Modelling and Tactile Data Processing for Robot Skins

Compressed Sensing for Scalable Robotic Tactile Skins

The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable humanlevel dexterous manipulation is well accepted. However, the increase in the number of tactile sensing elements introduces challenges including wiring complexity, data acquisition, and data processing. To help address these chal...

Design, Modeling, and Construction of a New Tactile Sensor for Measuring Contact-Force

This paper presents the design, modeling, and testing of a flexible tactile sensor and its applications. This sensor is made of polymer materials and can detect the 2D surface texture image and contact-force estimation. The sensing mechanism is based on the novel contact deflection effect of a membrane. We measure the deflection of the membrane with measuring the strain in the membrane with emb...

Design and Construction of a Novel Tactile Sensor for Measuring Contact-Force, Based on Piezoelectric Effect

In this paper, design and construction of a tactile sensor for measuring contact-force is presented. Mechanism of measuring contact-force in this tactile sensor is based on impedance changing of piezoelectric crystal and voltage of different points in circuit as a result of applying force on the crystal. By considering a specific point in the circuit and recording the changes of its voltage, ma...

A full tactile sensing suite for dextrous robot hands and use in contact force control

A full tactile sensing suite for the nger segments and palm of the Utah/MIT Dextrous Hand is presented. The rubber-based sensors employ capaci-tance sensing and oating electrodes in the top layer, and contain local electronics for excitation, ltering, analog-to-digital conversion, and serial communication. Experimental results on static, dynamic, and spatial properties are presented. Use of the...

Tactile sensors for robot handling