A Highly Sensitive Multimodal Tactile Sensing Module with Planar Structure for Dexterous Manipulation of Robots
Herein, a multimodal tactile sensing module that can improve the dexterous manipulation capabilities of robots with parallel grippers is reported. The tactile sensor consists of a 4 × 4 matrix 3‐axis force sensor array (with spacings of 2 mm) and a single‐temperature sensor. The tactile sensor uses...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2023-06-01
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| Series: | Advanced Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/aisy.202200381 |
| _version_ | 1797794222551597056 |
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| author | Bo-Gyu Bok Jin-Seok Jang Min-Seok Kim |
| author_facet | Bo-Gyu Bok Jin-Seok Jang Min-Seok Kim |
| author_sort | Bo-Gyu Bok |
| collection | DOAJ |
| description | Herein, a multimodal tactile sensing module that can improve the dexterous manipulation capabilities of robots with parallel grippers is reported. The tactile sensor consists of a 4 × 4 matrix 3‐axis force sensor array (with spacings of 2 mm) and a single‐temperature sensor. The tactile sensor uses inorganic silicon and gold as materials for the detection of strain and temperature and a polymer‐based elastomer to encapsulate the sensing layer. The sensing module is equipped with a readout circuitry for signal processing. Within the measurable force range (≈1.5 N) of the sensor cell, a prototype module exhibits a repeatability error within 2%, a hysteresis error within 3%, and a resolution as small as 10 mN. Furthermore, each sensor cell independently measures 3‐axis forces with a cross‐talk error of approximately 3%. The temperature sensor exhibits linear output properties in the approximate range of 5–75 °C. Experiments are performed by mounting the module on a parallel gripper to grasp a paper cup and a reflex hammer toy. According to the experimental results, the sensor can accurately detect the state of contact with an object by analyzing three tactile modalities (i.e., 3‐axis force distribution, vibration, and temperature). |
| first_indexed | 2024-03-13T02:59:40Z |
| format | Article |
| id | doaj.art-63db11b12cbd46eb8ef192ed06b8ddde |
| institution | Directory Open Access Journal |
| issn | 2640-4567 |
| language | English |
| last_indexed | 2024-03-13T02:59:40Z |
| publishDate | 2023-06-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj.art-63db11b12cbd46eb8ef192ed06b8ddde2023-06-27T15:38:29ZengWileyAdvanced Intelligent Systems2640-45672023-06-0156n/an/a10.1002/aisy.202200381A Highly Sensitive Multimodal Tactile Sensing Module with Planar Structure for Dexterous Manipulation of RobotsBo-Gyu Bok0Jin-Seok Jang1Min-Seok Kim2Mechanical Metrology Group Korea Research Institute of Standards and Science (KRISS) 267 Gajeong-ro, Yuseong-gu Daejeon 34113 Republic of KoreaMechanical Metrology Group Korea Research Institute of Standards and Science (KRISS) 267 Gajeong-ro, Yuseong-gu Daejeon 34113 Republic of KoreaMechanical Metrology Group Korea Research Institute of Standards and Science (KRISS) 267 Gajeong-ro, Yuseong-gu Daejeon 34113 Republic of KoreaHerein, a multimodal tactile sensing module that can improve the dexterous manipulation capabilities of robots with parallel grippers is reported. The tactile sensor consists of a 4 × 4 matrix 3‐axis force sensor array (with spacings of 2 mm) and a single‐temperature sensor. The tactile sensor uses inorganic silicon and gold as materials for the detection of strain and temperature and a polymer‐based elastomer to encapsulate the sensing layer. The sensing module is equipped with a readout circuitry for signal processing. Within the measurable force range (≈1.5 N) of the sensor cell, a prototype module exhibits a repeatability error within 2%, a hysteresis error within 3%, and a resolution as small as 10 mN. Furthermore, each sensor cell independently measures 3‐axis forces with a cross‐talk error of approximately 3%. The temperature sensor exhibits linear output properties in the approximate range of 5–75 °C. Experiments are performed by mounting the module on a parallel gripper to grasp a paper cup and a reflex hammer toy. According to the experimental results, the sensor can accurately detect the state of contact with an object by analyzing three tactile modalities (i.e., 3‐axis force distribution, vibration, and temperature).https://doi.org/10.1002/aisy.202200381dexterous manipulationelectronic skinmultimodalityroboticstactile sensor |
| spellingShingle | Bo-Gyu Bok Jin-Seok Jang Min-Seok Kim A Highly Sensitive Multimodal Tactile Sensing Module with Planar Structure for Dexterous Manipulation of Robots Advanced Intelligent Systems dexterous manipulation electronic skin multimodality robotics tactile sensor |
| title | A Highly Sensitive Multimodal Tactile Sensing Module with Planar Structure for Dexterous Manipulation of Robots |
| title_full | A Highly Sensitive Multimodal Tactile Sensing Module with Planar Structure for Dexterous Manipulation of Robots |
| title_fullStr | A Highly Sensitive Multimodal Tactile Sensing Module with Planar Structure for Dexterous Manipulation of Robots |
| title_full_unstemmed | A Highly Sensitive Multimodal Tactile Sensing Module with Planar Structure for Dexterous Manipulation of Robots |
| title_short | A Highly Sensitive Multimodal Tactile Sensing Module with Planar Structure for Dexterous Manipulation of Robots |
| title_sort | highly sensitive multimodal tactile sensing module with planar structure for dexterous manipulation of robots |
| topic | dexterous manipulation electronic skin multimodality robotics tactile sensor |
| url | https://doi.org/10.1002/aisy.202200381 |
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