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Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement

Flexible tactile sensor with contact force sensing and surface texture recognition abilities is crucial for robotic dexterous grasping and manipulation in daily usage. Different from force sensing, surface texture discrimination is more challenging in the development of tactile sensors because of li...

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Detalles Bibliográficos
Autores principales: Wang, Yancheng, Chen, Jianing, Mei, Deqing
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2019
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6780987/
https://www.ncbi.nlm.nih.gov/pubmed/31480392
http://dx.doi.org/10.3390/mi10090579
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author Wang, Yancheng
Chen, Jianing
Mei, Deqing
author_facet Wang, Yancheng
Chen, Jianing
Mei, Deqing
author_sort Wang, Yancheng
collection PubMed
description Flexible tactile sensor with contact force sensing and surface texture recognition abilities is crucial for robotic dexterous grasping and manipulation in daily usage. Different from force sensing, surface texture discrimination is more challenging in the development of tactile sensors because of limited discriminative information. This paper presents a novel method using the finite element modeling (FEM) and phase delay algorithm to investigate the flexible tactile sensor array for slippage and grooved surfaces discrimination when sliding over an object. For FEM modeling, a 3 × 3 tactile sensor array with a multi-layer structure is utilized. For sensor array sliding over a plate surface, the initial slippage occurrence can be identified by sudden changes in normal forces based on wavelet transform analysis. For the sensor array sliding over pre-defined grooved surfaces, an algorithm based on phase delay between different sensing units is established and then utilized to discriminate between periodic roughness and the inclined angle of the grooved surfaces. Results show that the proposed tactile sensor array and surface texture recognition method is anticipated to be useful in applications involving human-robotic interactions.
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spelling pubmed-67809872019-10-30 Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement Wang, Yancheng Chen, Jianing Mei, Deqing Micromachines (Basel) Article Flexible tactile sensor with contact force sensing and surface texture recognition abilities is crucial for robotic dexterous grasping and manipulation in daily usage. Different from force sensing, surface texture discrimination is more challenging in the development of tactile sensors because of limited discriminative information. This paper presents a novel method using the finite element modeling (FEM) and phase delay algorithm to investigate the flexible tactile sensor array for slippage and grooved surfaces discrimination when sliding over an object. For FEM modeling, a 3 × 3 tactile sensor array with a multi-layer structure is utilized. For sensor array sliding over a plate surface, the initial slippage occurrence can be identified by sudden changes in normal forces based on wavelet transform analysis. For the sensor array sliding over pre-defined grooved surfaces, an algorithm based on phase delay between different sensing units is established and then utilized to discriminate between periodic roughness and the inclined angle of the grooved surfaces. Results show that the proposed tactile sensor array and surface texture recognition method is anticipated to be useful in applications involving human-robotic interactions. MDPI 2019-08-30 /pmc/articles/PMC6780987/ /pubmed/31480392 http://dx.doi.org/10.3390/mi10090579 Text en © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Wang, Yancheng
Chen, Jianing
Mei, Deqing
Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement
title Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement
title_full Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement
title_fullStr Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement
title_full_unstemmed Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement
title_short Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement
title_sort flexible tactile sensor array for slippage and grooved surface recognition in sliding movement
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6780987/
https://www.ncbi.nlm.nih.gov/pubmed/31480392
http://dx.doi.org/10.3390/mi10090579
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