Tactile Robotic Skin with Pressure Direction Detection

Jan Klimaszewski , Daniel Janczak , Paweł Piorun

Abstract

Tactile sensing is the current challenge in robotics and object manipulation by machines. The robot’s agile interaction with the environment requires pressure sensors to detect not only location and value, but also touch direction. The paper presents a new, two-layer construction of artificial robotic skin, which allows measuring the location, value, and direction of pressure from external force. The main advantages of the proposed solution are its low cost of implementation based on two FSR (Force Sensitive Resistor) matrices and real-time operation thanks to direction detection using fast matching algorithms. The main contribution is the idea of detecting the pressure direction by determining the shift between the pressure maps of the skin’s upper and lower layers. The pressure map of each layer is treated as an image and registered using a phase correlation (POC–Phase Only Correlation) method. The use of the developed device can be very wide. For example, in the field of cooperative robots, it can lead to the improvement of human machine interfaces and increased security of human–machine cooperation. The proposed construction can help meet the increasing requirements for robots in cooperation with humans, but also enable agile manipulation of objects from their surroundings.
Author Jan Klimaszewski (FM / IACR)
Jan Klimaszewski,,
- The Institute of Automatic Control and Robotics
, Daniel Janczak (FM / IMBE)
Daniel Janczak,,
- The Institute of Metrology and Biomedical Engineering
, Paweł Piorun (FM / IMBE)
Paweł Piorun,,
- The Institute of Metrology and Biomedical Engineering
Journal seriesSensors, [SENSORS-BASEL], ISSN 1424-8220, e-ISSN 1424-3210, (N/A 100 pkt)
Issue year2019
Vol19
No21
Pages1-17
Publication size in sheets0.8
Article number4697
Keywords in Englishpressure sensor, graphene nanoplatelets, robotic skin, tactile sensor, sheer force detection
ASJC Classification1303 Biochemistry; 1602 Analytical Chemistry; 2208 Electrical and Electronic Engineering; 3107 Atomic and Molecular Physics, and Optics
DOIDOI:10.3390/s19214697
URL https://www.mdpi.com/1424-8220/19/21/4697
Languageen angielski
Score (nominal)100
Score sourcejournalList
ScoreMinisterial score = 100.0, 07-02-2020, ArticleFromJournal
Publication indicators WoS Citations = 0; Scopus SNIP (Source Normalised Impact per Paper): 2016 = 1.393; WoS Impact Factor: 2018 = 3.031 (2) - 2018=3.302 (5)
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