A High-Speed Mesh of Tactile Sensors Fitting Arbitrary Surfaces

Author

Shimojo, Makoto ; Araki, Takuma ; Ming, Aigou ; Ishikawa, Masatoshi

Author_Institution

Dept. of Mech. Eng. & Intell. Syst., Univ. of Electro-Commun., Tokyo, Japan

Volume

10

Issue

4

fYear

2010

fDate

4/1/2010 12:00:00 AM

Firstpage

822

Lastpage

830

Abstract

A tactile sensor is developed with the aim of covering a robot´s entire structure, while reducing wiring requirement and ensuring high-speed response. The sensor detects the center point of load distribution on 2-D surfaces as well as the overall load. There are only four signal wires from the sensor. The sensor response time is nearly constant (within 1 ms) regardless of the number of detection elements, their placements or sensor areas. In this paper, the principles behind the operation of this sensor and the results of experiments using the sensor are described.

Keywords

dexterous manipulators; grippers; tactile sensors; arbitrary surface fitting; high-speed response; load distribution detection; overall load detection; robot; tactile sensors; wiring requirement reduction; Humanoid robots; Robot kinematics; Robot sensing systems; Sensor phenomena and characterization; Skin; Surface fitting; Surface resistance; Tactile sensors; Wires; Wiring; High-speed response; mesh structure; reducing wiring; robot skin; tactile sensing;

fLanguage

English

Journal_Title

Sensors Journal, IEEE

Publisher

ieee

ISSN

1530-437X

Type

jour

DOI

10.1109/JSEN.2009.2034982

Filename

5427261