Journal ArticleDOI
A Polymer-Based Flexible Tactile Sensor for Both Normal and Shear Load Detections and Its Application for Robotics
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TLDR
In this article, a flexible tactile sensor for both normal and shear load detections was proposed and demonstrated for balance control in humanoid robots, which has no diaphragm-like structures.Abstract:
This paper proposes and demonstrates a novel flexible tactile sensor for both normal and shear load detections. For the realization of the sensor, polyimide and polydimethylsiloxane are used as a substrate, which makes it flexible. Thin metal strain gauges, which are incorporated into the polymer, are used for measuring normal and shear loads. The salient feature of this tactile sensor is that it has no diaphragm-like structures. The unit tactile cell characteristics are evaluated against normal and shear loads. The fabricated tactile sensor can measure normal loads of up to 4 N, and the sensor output signals are saturated against loads of more than 4 N. Shear loads can be detected by different voltage drops in strain gauges. The device has no fragile structures; therefore, it can be used as a ground reaction force (GRF) sensor for balance control in humanoid robots. Four tactile unit sensors are assembled and placed in the four corners of the robots sole. By increasing bump dimensions, the tactile unit sensor can measure loads of up to 2 kgf. When loads are exerted on the sole, the GRF can be measured by these four sensors. The measured forces can be used in the balance control of biped locomotion systems.read more
Citations
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Journal ArticleDOI
25th Anniversary Article: The Evolution of Electronic Skin (E-Skin): A Brief History, Design Considerations, and Recent Progress
TL;DR: Electronic networks comprised of flexible, stretchable, and robust devices that are compatible with large-area implementation and integrated with multiple functionalities is a testament to the progress in developing an electronic skin akin to human skin.
Journal ArticleDOI
Tactile sensing for dexterous in-hand manipulation in robotics-A review
TL;DR: This paper reviews the state-of-the-art in force and tactile sensing technologies that can be suitable within the specific context of dexterous in-hand manipulation and provides a review of models describing human hand activity and movements.
Journal ArticleDOI
Conductive polymer-based sensors for biomedical applications
Shruti Nambiar,John T.W. Yeow +1 more
TL;DR: This paper focuses onCP-based sensor elements and the state-of-art of CP-based sensing devices that have potential applications as tools in clinical diagnosis and surgical interventions and some of the key issues related to CPs are highlighted.
Journal ArticleDOI
Directions Toward Effective Utilization of Tactile Skin: A Review
TL;DR: The state of the art and the research issues in tactile sensing, with the emphasis on effective utilization of tactile sensors in robotic systems are surveyed, recognizing the fact that the system performance tends to depend on how its various components are put together.
Journal ArticleDOI
Design and Characterization of a Soft Multi-Axis Force Sensor Using Embedded Microfluidic Channels
TL;DR: In this article, the authors describe the design, fabrication, and characterization of a novel soft multi-axis force sensor made of highly deformable materials, which is capable of measuring normal and in-plane shear forces.
References
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Journal ArticleDOI
Review Article Tactile sensing for mechatronics—a state of the art survey
Mark Lee,Howard Nicholls +1 more
TL;DR: A comprehensive search of the literature revealed that there was a significant increase in publications on tactile sensing from 1991 onwards as discussed by the authors and that the predominant choice of transduction method is piezoelectric, with arrays using resistive or capacitive sensing.
Book
Sensitive Skin
TL;DR: The state of the art and research issues that need to be resolved in order to make sensitive skin a reality are surveyed.
Journal ArticleDOI
Development of polyimide flexible tactile sensor skin
TL;DR: In this article, a polyimide-based two-dimensional tactile sensing array realized using a novel inverted fabrication technique is presented. Butler et al. developed a sensor skin which contains an array of membrane-based tactile sensors (taxels).
Journal ArticleDOI
Applications of MEMS in surgery
TL;DR: The challenges MEMS face in the medical device market along with current applications and future directions for the technology are discussed.
Journal ArticleDOI
A literature review: robots in medicine
TL;DR: A variety of robots that assist or perform surgery is surveyed, including positioning in stereotactic neurosurgery, patient manipulation, an in vivo spinal kinematic instrument, and robotic radial keratotomy, among others.