VibroTouch: Active Tactile Sensor for Contact Detection and Force Sensing via Vibrations
Accurate and fast contact detection between a robot manipulator and objects is crucial for safe robot–object and human–robot interactions. Traditional collision detection techniques relied on force–torque sensors and Columb friction cone estimation. However, the strain gauges used in the conventiona...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-08-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/22/17/6456 |
| _version_ | 1797493150827151360 |
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| author | Danissa Sandykbayeva Zhanat Kappassov Bakhtiyar Orazbayev |
| author_facet | Danissa Sandykbayeva Zhanat Kappassov Bakhtiyar Orazbayev |
| author_sort | Danissa Sandykbayeva |
| collection | DOAJ |
| description | Accurate and fast contact detection between a robot manipulator and objects is crucial for safe robot–object and human–robot interactions. Traditional collision detection techniques relied on force–torque sensors and Columb friction cone estimation. However, the strain gauges used in the conventional force sensors require low-noise and high-precision electronics to deliver the signal to the final user. The Signal-to-Noise Ratio (SNR) in these devices is still an issue in light contact detection. On the other hand, the Eccentric Rotating Mass (ERM) motors are very sensitive to subtle touch as their vibrating resonant state loses immediately. The vibration, in this case, plays a core role in triggering the tactile event. This project’s primary goal is to use generated and received vibrations to establish the scope of object properties that can be obtained through low-frequency generation on one end and Fourier analysis of the accelerometer data on the other end. The main idea behind the system is the phenomenon of change in vibration propagation patterns depending on the grip properties. Moreover, the project’s original aim is to gather enough information on vibration feedback on objects of various properties and compare them. These data sets are further analyzed in terms of frequency and applied grip force correlations in order to prepare the ground for pattern extraction and recognition based on the physical properties of an object. |
| first_indexed | 2024-03-10T01:15:53Z |
| format | Article |
| id | doaj.art-28bab86c289e4abcbae625f32ae24b2d |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T01:15:53Z |
| publishDate | 2022-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-28bab86c289e4abcbae625f32ae24b2d2023-11-23T14:08:49ZengMDPI AGSensors1424-82202022-08-012217645610.3390/s22176456VibroTouch: Active Tactile Sensor for Contact Detection and Force Sensing via VibrationsDanissa Sandykbayeva0Zhanat Kappassov1Bakhtiyar Orazbayev2Robotics Department, Nazarbayev University, Nur-Sultan 010000, KazakhstanRobotics Department, Nazarbayev University, Nur-Sultan 010000, KazakhstanPhysics Department, Nazarbayev University, Nur-Sultan 010000, KazakhstanAccurate and fast contact detection between a robot manipulator and objects is crucial for safe robot–object and human–robot interactions. Traditional collision detection techniques relied on force–torque sensors and Columb friction cone estimation. However, the strain gauges used in the conventional force sensors require low-noise and high-precision electronics to deliver the signal to the final user. The Signal-to-Noise Ratio (SNR) in these devices is still an issue in light contact detection. On the other hand, the Eccentric Rotating Mass (ERM) motors are very sensitive to subtle touch as their vibrating resonant state loses immediately. The vibration, in this case, plays a core role in triggering the tactile event. This project’s primary goal is to use generated and received vibrations to establish the scope of object properties that can be obtained through low-frequency generation on one end and Fourier analysis of the accelerometer data on the other end. The main idea behind the system is the phenomenon of change in vibration propagation patterns depending on the grip properties. Moreover, the project’s original aim is to gather enough information on vibration feedback on objects of various properties and compare them. These data sets are further analyzed in terms of frequency and applied grip force correlations in order to prepare the ground for pattern extraction and recognition based on the physical properties of an object.https://www.mdpi.com/1424-8220/22/17/6456active vibration sensingtactile sensingcontact detection |
| spellingShingle | Danissa Sandykbayeva Zhanat Kappassov Bakhtiyar Orazbayev VibroTouch: Active Tactile Sensor for Contact Detection and Force Sensing via Vibrations Sensors active vibration sensing tactile sensing contact detection |
| title | VibroTouch: Active Tactile Sensor for Contact Detection and Force Sensing via Vibrations |
| title_full | VibroTouch: Active Tactile Sensor for Contact Detection and Force Sensing via Vibrations |
| title_fullStr | VibroTouch: Active Tactile Sensor for Contact Detection and Force Sensing via Vibrations |
| title_full_unstemmed | VibroTouch: Active Tactile Sensor for Contact Detection and Force Sensing via Vibrations |
| title_short | VibroTouch: Active Tactile Sensor for Contact Detection and Force Sensing via Vibrations |
| title_sort | vibrotouch active tactile sensor for contact detection and force sensing via vibrations |
| topic | active vibration sensing tactile sensing contact detection |
| url | https://www.mdpi.com/1424-8220/22/17/6456 |
| work_keys_str_mv | AT danissasandykbayeva vibrotouchactivetactilesensorforcontactdetectionandforcesensingviavibrations AT zhanatkappassov vibrotouchactivetactilesensorforcontactdetectionandforcesensingviavibrations AT bakhtiyarorazbayev vibrotouchactivetactilesensorforcontactdetectionandforcesensingviavibrations |