Covering a Robot Fingertip With uSkin: A Soft Electronic Skin With Distributed 3-Axis Force Sensitive Elements for Robot Hands
Covering a Robot Fingertip With uSkin: A Soft Electronic Skin With Distributed 3-Axis Force Sensitive Elements for Robot Hands
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DOI：
10.1109/lra.2017.2734965
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发表时间：
2018-01-01
影响因子：
5.2
通讯作者：
Sugano, Shigeki
中科院分区：
文献类型：
--
作者：
Tomo, Tito Pradhono;Schmitz, Alexander;Sugano, Shigeki
分布式触觉传感对于执行稳定，微妙和精确的操作至关重要，以便机器人能够正确识别和处理物体。然而，目前现有的皮肤传感器仍然存在诸如复杂和昂贵的生产或难以集成到机器人手中的共同问题。特别是，一个实用的分布式软皮肤传感器系统，可以覆盖机器人手的各个部分，在3轴测量力，具有亚厘米级的空间密度，并在同一时间数字输出还不存在。这封信讨论uSkin，一个软的，分布式的，3轴力传感器的机器人手，并提出了其实现多曲指尖。该传感器成本低，易于制造，并且可以测量法向力和剪切力。实验结果表明，该传感器对垂直力具有10%的迟滞，最大量程为6N。在0.4 N负载下，信噪比（SNR）达到54 dB，达到了目前此类传感器的最高水平。评估实验还表明，分布式三轴称重传感器可以产生代表物体形状的矢量。这开启了传感器可用于分类不同形状的可能性。此外，指尖传感器安装在Allegro手，当机器人抓住一个物体时，力的变化测量。
Distributed tactile sensing is crucial to perform stable, subtle, and precise manipulation so that a robot can recognize and handle objects properly. However, currently existing skin sensors still have common problems such as complex and expensive production or are difficult to integrate into robot hands. In particular, a practical distributed soft skin sensor system that can cover various parts of the robot hand, measure force in 3-axis, with a subcentimeter spatial density, and digital output at the same time does not exist yet. This letter discusses uSkin, a soft, distributed, 3-axis force sensor for robot hands and presents its implementation for multicurved fingertips. The sensor is low-cost, easy to manufacture, and can measure normal and shear forces. The experimental results revealed that this sensor has 10% hysteresis for perpendicular force with a maximum range of 6 N. The Signal to Noise Ratio (SNR) value of 54 dB for 0.4 N load was achieved, which constitutes the state of the art for this kind of sensors. Evaluation experiments also showed that the distributed 3-axis load cells could produce vectors that represent the shape of objects. This opens the possibility that the sensor can be used for classifying different shapes. Furthermore, the fingertip sensor was installed on the Allegro hand and the changing force measurements when the robot is grasping an object are presented.