DocumentCode :
3186661
Title :
Architecture of a tactile sensor suite for artificial hands based on FPGAs
Author :
Oballe-Peinado, Óscar ; Hidalgo-López, José A. ; Sánchez-Durán, José A. ; Castellanos-Ramos, Julián ; Vidal-Verdú, Fernando
Author_Institution :
Dept. of Electron., Univ. of Malaga, Malaga, Spain
fYear :
2012
fDate :
24-27 June 2012
Firstpage :
112
Lastpage :
117
Abstract :
Tactile sensing is a serious issue in assistive robotics or prosthetics. It requires the hands and body of the robot are equipped with many tactile arrays, and a large amount of data has to be acquired and transmitted to a central decision unit. Moreover, this has to be done in a very short time to improve dexterity and performance in service tasks Therefore, the local electronics of a smart tactile patch must be powerful enough to acquire and pre-process data in real time to cope with the limited throughput of the communication buses. This paper presents an architecture based on FPGAs that implements a direct interface with the sensor without analog-to-digital converters and robust serial communications between the electronics in the finger tips, mid-digits and palm.
Keywords :
analogue-digital conversion; field programmable gate arrays; prosthetics; tactile sensors; FPGA; analog-to-digital converters; artificial hands; assistive robotics; central decision unit; communication buses; finger tips; mid-digits; palm; prosthetics; robust serial communications; service tasks; smart tactile patch; tactile arrays; tactile sensor suite; Computer architecture; Data acquisition; Field programmable gate arrays; Real time systems; Tactile sensors; Tactile sensor suite; direct connection sensor-FPGAs;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on
Conference_Location :
Rome
ISSN :
2155-1774
Print_ISBN :
978-1-4577-1199-2
Type :
conf
DOI :
10.1109/BioRob.2012.6290746
Filename :
6290746
Link To Document :
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