Starting from human ?sense of touch,? this paper reviews the state of tactile sensing in robotics. The physiology, coding, and transferring tactile data and perceptual importance of the ?sense of touch? in humans are discussed. Following this, a number of design hints derived for robotic tactile sensing are presented. Various technologies and transduction methods used to improve the touch sense capability of robots are presented. Tactile sensing, focused to fingertips and hands until past decade or so, has now been extended to whole body, even though many issues remain open. Trend and methods to develop tactile sensing arrays for various body sites are presented. Finally, various system issues that keep tactile sensing away from widespread utility are discussed.

Tactile Sensing—From Humans to Humanoids

Review Article Tactile sensing for mechatronics—a state of the art survey

This paper provides a review of recent developments in the rapidly changing and advancing field of smart fabric sensor and electronic textile technologies. It summarizes the basic principles and approaches employed when building fabric sensors as well as the most commonly used materials and techniques used in electronic textiles. This paper shows that sensing functionality can be created by intrinsic and extrinsic modifications to textile substrates depending on the level of integration into the fabric platform. The current work demonstrates that fabric sensors can be tailored to measure force, pressure, chemicals, humidity and temperature variations. Materials, connectors, fabric circuits, interconnects, encapsulation and fabrication methods associated with fabric technologies prove to be customizable and versatile but less robust than their conventional electronics counterparts. The findings of this survey suggest that a complete smart fabric system is possible through the integration of the different types of textile based functional elements. This work intends to be a starting point for standardization of smart fabric sensing techniques and e-textile fabrication methods.

https://iopscience.iop.org/article/10.1088/0964-1726/23/5/053001/pdf

Smart fabric sensors and e-textile technologies: a review

A new type of tactile sensor using pressure-conductive rubber with stitched electrical wires is presented. The sensor is thin and flexible and can cover three-dimensional objects. Since the sensor adopts a single-layer composite structure, the sensor is durable with respect to external force. In order to verify the effectiveness of this tactile sensor, we performed an experiment in which a four-fingered robot hand equipped with tactile sensors grasped sphere and column. The sensor structure, electrical circuit, and characteristics are described. The sensor control system and experimental results are also described.

A tactile sensor sheet using pressure conductive rubber with electrical-wires stitched method

In this paper, we propose and demonstrate a modular expandable capacitive tactile sensor using polydimethylsiloxsane (PDMS) elastomer. A sensor module consists of 16times16 tactile cells with 1 mm spatial resolution, similar to that of human skin, and interconnection lines for expandability. The sensor has been fabricated by using five PDMS layers bonded together. In order to customize the sensitivity of a sensor, we cast PDMS by spin coating and cured it on a highly planarized stage for uniform thickness. The cell size is 600times600 mum2 and initial capacitance of each cell is about 180 fF. Tactile response of a cell has been measured using a commercial force gauge having 1 mN resolution and a motorized z-axis precision stage with 100 nm resolution. The fabricated cell shows a sensitivity of 3%/mN within the full scale range of 40 mN (250 kPa). Four tactile modules have been successfully attached by using anisotropic conductive paste to demonstrate expandability of the proposed sensors. Various tactile images have been successfully captured by single sensor module as well as the expanded 32times32 array sensors

/pdf/a-flexible-polymer-tactile-sensor-fabrication-and-modular-1ifkizydth.pdf

A Flexible Polymer Tactile Sensor: Fabrication and Modular Expandability for Large Area Deployment

We present design and implementation of a tactile sensor system, sensor suit, that covers the entire body of a robot. The sensor suit is designed to be soft and flexible and to have a large number of sensing regions. We have built the sensor suit using electrically conductive fabric and string. The current version of the sensor suit has 192 sensing regions. Each sensing region works as a binary switch in the current version. All of the signals from the sensor suit are gathered and superimposed on a visual image of the robot. The video multiplexer for the sensor signals is built on a field programmable gate array set. The construction of sensor suit system and its application with a full-body humanoid are presented.

A full-body tactile sensor suit using electrically conductive fabric and strings

A robot body is not only an active unit but also a sensing unit. This paper describes a humanoid that integrates stereo vision, full-body tactile sensor, sound sensors and wrist force sensors into a sensor image. The sensor image reflects the current state of the environment and is regarded as all the input to the robot brain in this system. The brain program processes a series of sensor images and controls its body using them. The robot is remote-brained and designed to be a testbed to do research on sensor based behaviors of a full-body humanoid. This paper describes the design concept and the details of the system.

T. Ninomiya

Papers

A full-body tactile sensor suit using electrically conductive fabric and strings

A remote-brained full-body humanoid with multisensor imaging system of binocular viewer, ears, wrist force and tactile sensor suit