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Static Tactile Sensing for a Robotic Electronic Skin via an Electromechanical Impedance-Based Approach

Tactile sensing is paramount for robots operating in human-centered environments to help in understanding interaction with objects. To enable robots to have sophisticated tactile sensing capability, researchers have developed different kinds of electronic skins for robotic hands and arms in order to...

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Autores principales: Liu, Cheng, Zhuang, Yitao, Nasrollahi, Amir, Lu, Lingling, Haider, Mohammad Faisal, Chang, Fu-Kuo
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7288059/
https://www.ncbi.nlm.nih.gov/pubmed/32429364
http://dx.doi.org/10.3390/s20102830
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author Liu, Cheng
Zhuang, Yitao
Nasrollahi, Amir
Lu, Lingling
Haider, Mohammad Faisal
Chang, Fu-Kuo
author_facet Liu, Cheng
Zhuang, Yitao
Nasrollahi, Amir
Lu, Lingling
Haider, Mohammad Faisal
Chang, Fu-Kuo
author_sort Liu, Cheng
collection PubMed
description Tactile sensing is paramount for robots operating in human-centered environments to help in understanding interaction with objects. To enable robots to have sophisticated tactile sensing capability, researchers have developed different kinds of electronic skins for robotic hands and arms in order to realize the ‘sense of touch’. Recently, Stanford Structures and Composites Laboratory developed a robotic electronic skin based on a network of multi-modal micro-sensors. This skin was able to identify temperature profiles and detect arm strikes through embedded sensors. However, sensing for the static pressure load is yet to be investigated. In this work, an electromechanical impedance-based method is proposed to investigate the response of piezoelectric sensors under static normal pressure loads. The smart skin sample was firstly fabricated by embedding a piezoelectric sensor into the soft silicone. Then, a series of static pressure tests to the skin were conducted. Test results showed that the first peak of the real part impedance signal was sensitive to static pressure load, and by using the proposed diagnostic method, this test setup could detect a resolution of 0.5 N force. Numerical simulation methods were then performed to validate the experimental results. The results of the numerical simulation prove the validity of the experiments, as well as the robustness of the proposed method in detecting static pressure loads using the smart skin.
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spelling pubmed-72880592020-06-15 Static Tactile Sensing for a Robotic Electronic Skin via an Electromechanical Impedance-Based Approach Liu, Cheng Zhuang, Yitao Nasrollahi, Amir Lu, Lingling Haider, Mohammad Faisal Chang, Fu-Kuo Sensors (Basel) Article Tactile sensing is paramount for robots operating in human-centered environments to help in understanding interaction with objects. To enable robots to have sophisticated tactile sensing capability, researchers have developed different kinds of electronic skins for robotic hands and arms in order to realize the ‘sense of touch’. Recently, Stanford Structures and Composites Laboratory developed a robotic electronic skin based on a network of multi-modal micro-sensors. This skin was able to identify temperature profiles and detect arm strikes through embedded sensors. However, sensing for the static pressure load is yet to be investigated. In this work, an electromechanical impedance-based method is proposed to investigate the response of piezoelectric sensors under static normal pressure loads. The smart skin sample was firstly fabricated by embedding a piezoelectric sensor into the soft silicone. Then, a series of static pressure tests to the skin were conducted. Test results showed that the first peak of the real part impedance signal was sensitive to static pressure load, and by using the proposed diagnostic method, this test setup could detect a resolution of 0.5 N force. Numerical simulation methods were then performed to validate the experimental results. The results of the numerical simulation prove the validity of the experiments, as well as the robustness of the proposed method in detecting static pressure loads using the smart skin. MDPI 2020-05-16 /pmc/articles/PMC7288059/ /pubmed/32429364 http://dx.doi.org/10.3390/s20102830 Text en © 2020 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
Liu, Cheng
Zhuang, Yitao
Nasrollahi, Amir
Lu, Lingling
Haider, Mohammad Faisal
Chang, Fu-Kuo
Static Tactile Sensing for a Robotic Electronic Skin via an Electromechanical Impedance-Based Approach
title Static Tactile Sensing for a Robotic Electronic Skin via an Electromechanical Impedance-Based Approach
title_full Static Tactile Sensing for a Robotic Electronic Skin via an Electromechanical Impedance-Based Approach
title_fullStr Static Tactile Sensing for a Robotic Electronic Skin via an Electromechanical Impedance-Based Approach
title_full_unstemmed Static Tactile Sensing for a Robotic Electronic Skin via an Electromechanical Impedance-Based Approach
title_short Static Tactile Sensing for a Robotic Electronic Skin via an Electromechanical Impedance-Based Approach
title_sort static tactile sensing for a robotic electronic skin via an electromechanical impedance-based approach
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7288059/
https://www.ncbi.nlm.nih.gov/pubmed/32429364
http://dx.doi.org/10.3390/s20102830
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