Hostname: page-component-cd9895bd7-jkksz Total loading time: 0 Render date: 2024-12-28T01:16:46.889Z Has data issue: false hasContentIssue false
  • English
  • Français

A tactile sensor based on thin-plate deformation

Published online by Cambridge University Press:  09 March 2009

R.E. Ellis ,
S.R. Ganeshan  and
S.J. Lederman
Get access Rights & Permissions [Opens in a new window]

Summary

Traditionally, tactile sensors have been designed using compliant, rubber-like materials; when such a sensitized gripper grasps or otherwise manipulates an object, the normal strain deformation in the compliant material is sampled. The resulting information can be used to deduce simple local geometry of the contact, but the transduction process does not typically permit use of the individual strains in determining large-scale properties of the object (e.g., the inertia). Measurements of inertial parameters of grasped objects require accurate, low-hysteresis transduction that few tactile sensors currently provide.

An alternative is to work from the task specification, and determine the tactile information that is necessary to accomplish the task. Here, we consider how to sense the length and mass of a uniform object that is gripped in a gravitational field, and show the design and assessment of a new kind of tactile sensor that is based on the theory of the deformation of thin plates. Features of this design include its potentially rugged realization, and its high-accuracy measurement that is more typical of force sensors than of tactile sensors.

Keywords

Tactile sensorThin-platē deformationHigh accuracy.
Type
Article
Information
Robotica , Volume 12 , Issue 4 , July 1994 , pp. 343 - 351
Copyright
Copyright © Cambridge University Press 1994

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Dario, P. and Rossi, D. De, “Tactile sensors and the gripping challenge” IEEE Spectrum 22(8), 46–52 (1985).Google Scholar
2.Fearing, R.S. and Hollerbach, J.M., “Basic solid mechanics for tactile sensing” Int. J. Robotics Research 5(3), 40–54 (1984).Google Scholar
3.Gurfinkel, V.S., Shneyder, Yu., Kanayev, Ye.M. and Gurfinkel, Ye.V., “Tactile sensitizing of manipulators” Engineering Cybernetics, 12(6), 47–56 (1974).Google Scholar
4.Hackwood, S. and Beni, G., “Sensor and high-precision robotics research” In: (Brady, M. and Paul, R., editors) Robotics Research (MIT Press, Cambridge, MA, 1984) pp. 509–527.Google Scholar
5.Harmon, L.D., “A sense of touch begins to gather momentum” Sensor Review 1(2), 82–88 (1981).Google Scholar
6.Rossi, D. De, “Artificial tactile sensing and haptic perception” In: Measurement Science and Technology, volume 2 (1991) pp. 1003–1016.Google Scholar
7.Nicholls, H.R. and Lee, M.H., “A survey of robot tactile sensing technology” Int. J. Robotics Research, 8(3), 3–30 (1989).Google Scholar
8.Hillis, D.W., “A high-resolution imaging touch sensor” Int. J. Robotics Research, 1(2), 33–44 (1982).CrossRefGoogle Scholar
9.Raibert, M.H. and Tanner, J.E., “Design and implementation of a VLSI tactile sensing computer” Int. J. Robotics Research 1(3), 3–18 (1982).CrossRefGoogle Scholar
10.Speeter, T.H., “A tactile sensing system for robotic manipulation” Int. J. Robotics Research 9(6), 25–36 (1990).Google Scholar
11.Tamai, T., “Electrical properties of conductive elastomer as electrical contact matẹal” IEEE Transactions on Components, Hybrids, and Manufacturing Technology, 5, 56–61 (1982).CrossRefGoogle Scholar
12.Tise, B., “A compact, high resolution piezoresistive digital tactile sensor” Proceedings of the IEEE International Conference on Robotics and Automation (1988) pp. 760–764.Google Scholar
13.Wong, K. and Spiegel, J. Van der, “A shielded piezoresistive tactile sensor array” Proceedings of the IEEE International Conference on Solid-State Sensors and Actuators (1985) pp. 26–29.Google Scholar
14.Begej, S., “Planar and finger-shaped optical tactile sensors for robotic applications” IEEE J. Robotics and Automation, 4, 472–484 (1988).Google Scholar
15.King, A.A. and White, R.M., “Tactile sensing array based on forming and detecting an optical image” Sensors and Actuators 8, 49–63 (1985).CrossRefGoogle Scholar
16.Mott, D.H., Lee, M.H. and Nicholls, H.R., “An experimental very high resolution tactile sensor array” In: (Pugh, A., editor) Robot Sensors Vol. 2: Tactile and Non-Vision (Springer-Verlag, Berlin, 1985) pp. 179–188.Google Scholar
17.Schoenwald, J.S., Thiele, A.W. and Gjellum, D.E., “A novel fiber optic tactile array sensor” Proceedings of the IEEE international Conference on Robotics and Automa-don (1987) pp. 1792–1797.Google Scholar
18.Winger, J.G. and Lee, K.-M., “Experimental investigation of a tactile sensor based on bending losses in fiber optics” Proceedings of the IEEE International Conference on Robotics and Automation (1988) pp. 754–759.Google Scholar
19.Jenstrom, D.T. and Chen, C.-T., “A fiber optic microbend tactile sensor array” Sensors and Actuators, 20, 239–248 (1989).Google Scholar
20.Rebman, J. and Morris, K.A., “A tactile sensor with electrooptical transduction” In: (Pugh, A., editor) Robot Sensors Vol. 2: Tactile and Non-Vision (Springer-Verlag, Berlin, 1985) pp. 145–155.Google Scholar
21.Bertholds, A. and Daniker, R. “High-resolution photoelastic pressure sensor using low-birefringence fiber” Applied Optics, 25(3), 340–343 (1987).CrossRefGoogle Scholar
22.Eghtedari, F. and Morgan, C., “A novel tactile sensor for robot applications” Robotica 7, Part 4, 289–295 (1989).Google Scholar
23.Boie, R.A., “Capacitive impedance readout tactile image sensor” Proceedings of the IEEE International Conference on Robotics and Automation (1984) pp. 370–378.Google Scholar
24.Chun, K.J. and Wise, K.D., “A high performance silicon tactile imager based on a capacitive cell” IEEE Transactions on Electronic Devices 32, 1196–1201 (1985).CrossRefGoogle Scholar
25.Fearing, R.S., “Tactile sensing mechanisms” Int. J. Robotics Research 9(3), 3–23 (1990).CrossRefGoogle Scholar
26.Checinski, S.S. and Agrawal, A.K., “Magnetoelastic tactile sensor” In: (Pugh, A., editor) Robot Sensors Vol. 2: Tactile and Non-Vision (Springer-Verlag, Berlin, 1985) pp. 229–235.Google Scholar
27.Luo, R.-C., Wang, F: and Liu, Y., “An imaging tactile sensor with magnetoresistive transduction” In: (Pugh, A., editor) Robot Sensors Vol. 2: Tactile and Non-Vision (Springer-Verlag, Berlin, 1985) pp. 113–122.Google Scholar
28.Vranish, J.M., “Magnetoresistíve skin for robots” In: (Pugh, A., editor), Robot Sensors Vol. 2: Tactile and Non-Vision (Springer-Verlag, Berlin, 1985) pp. 99–111.Google Scholar
29.Dario, P., Bardelli, R., Rossi, D. De, Wang, L. R. and Pinotti, P.C., “Touch-sensitive polymer skin uses piezoelectric properties to recognize orientation of objects” Sensor Review 2(4), 194–198 (1982).Google Scholar
30.Howe, R. and Cutkosky, M., “Sensing skin acceleration for texture and slip perception” Proceedings of the IEEE International Conference on Robotics and Automation (1989) pp. 145–150.Google Scholar
31.Rossi, D. De, Lazzeri, L., Domenici, A., Nannini, C. and Basser, P., “Tactile sensing by an electromechanochemical skin analog” Sensors and Actuators 17, 107–114 (1989).Google Scholar
32.Helsel, M., Zemel, J.N. and Dominko, V., “An impedence tomographic tactile sensor” Sensors and Actuators 14, 93–98 (1988).CrossRefGoogle Scholar
33.Patterson, R.W. and Nevill, G.E. Jr., “The induced vibration touch sensor - a new dynamic touch sensing concept” Robotica 4(4), 27–31 (1985).CrossRefGoogle Scholar
34.Zhu, F. and Spronck, J.W., “A capacitive tactile sensor for shear and normal force measurements” Sensors and Actuators: A, 31, 115–120 (1992).CrossRefGoogle Scholar
35.Novak, J.L., “Initial design and analysis of a capacitive sensor for shear and normal force measurement” Proceedings of the IEEE international Conference on Robotics and Automation (1989) pp. 137–144.Google Scholar
36.Hackwood, S., Beni, G., Honrak, L.A., Wolfe, R. and Nelson, T.J. “A torque-sensitive tactile array for robotics” Int. J. Robotics Research 2(2) 46–50 (1983).CrossRefGoogle Scholar
37.Domenici, C. and Rossi, D. De, “A stress-componentselective tactile sensor array” Sensors and Actuators A, 31, 97–100 (1992).Google Scholar
38.Russell, R.A., “Thermal sensor for object shape and material constitution” Robotica 4(4), 31–34 (1985).Google Scholar
39.Jeswiet, J. and Nshama, W., “A robot force/temperature sensing gripper for heavy industry” Proceedings of the international Conference on Robot Vision and Sensory Controls (1986) pp. 151–156.Google Scholar
40.Siegel, D.M., Drucker, S.M. and Garabieta, I., “Performance of a tactile sensor” Proceedings of the IEEE on International Conference on Robotics and Automation (1987) pp. 1493–1499.Google Scholar
41.Brock, D.L. and Chics, S., “Environment perception of an articulated robot hand using contact sensors” Proceedings of the ASME Winter Annual Conference (1985) pp. 1–8.Google Scholar
42.Okada, T., “A new tactile sensor design based on suspension shells” In: (Venkataraman, S.T. and Iberall, T., editors) Dextrous Robot Hands (Springer-Verlag, Berlin, 1990) pp. 267–285.CrossRefGoogle Scholar
43.Russell, R.A. “Using tactile whiskers to measure surface contours” Proceedings of the IEEE international Conference on Robotics and Automation (1992) pp. 1295–1299.Google Scholar
44.Lederman, S.J., Ganeshan, S.R. and Ellis, R.E., “Haptic length perception of statistically held rods: equilibrium mechanics and psychophysical evalution” J. Exper. Psychology: Human Perception and Performance, 1993. (in submission).Google Scholar
45.Wang, C.K.Statically Indeterminate Structures (McGraw-Hill, New York, 1962).Google Scholar
46.Timoshenko, S.P. and Woinowsky-Krieger, S., Theory of Plates and Shells (McGraw-Hill, New York, 1970).Google Scholar
47.Ganeshan, S.R., “Robotic and haptic perception of length of statically held objects”, Master's Thesis (Queen's University at Kingston, 1992).Google Scholar