NDLI: Highly soft viscoelastic robot skin with a contact object-location-sensing capability

Content Provider	IEEE Xplore Digital Library
Author	Yamada, Y. Morizono, T. Umetani, Y. Takahashi, H.
Copyright Year	1982
Abstract	This paper concerns the development of robot skin capable of accurately sensing the location of objects in area contact with the skin surface. There has been no report on tactile sensing which attained not only skin deformation detection but also contact object location sensing with high accuracy. In the category of optomechatronics technology, we apply optical fibers to transmit surface deformation information of soft skin for sensing the location of an object in contact with the soft skin accurately. In the paper, we illustrate the structure of the robot skin, and describe the principle of both detecting the position of the reflector chips and sensing the contact location of an object. The robot skin is characterized by the fact that the surface is low cost and easily replaceable, and the sensing performance is robust against any electromagnetic disturbance. We then show experimental results for verifying the principles using a wedge-shaped object. For evaluating the sensing accuracy, comparisons are made: 1) between the location of a real convex of the object and that of the corresponding estimated polygon and 2) for the position of two vertices of the object when independent fitting and Lagrangian fitting methods are applied.
Sponsorship	IEEE Industrial Electronics Society
Starting Page	960
Ending Page	968
Page Count	9
File Size	756697
File Format	PDF
ISSN	02780046
Volume Number	52
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Viscosity Elasticity Skin Robot sensing systems Object detection Optical fibers Lagrangian functions Optical sensors Fingers Intelligent systems viscoelastic robot skin Compliance matching contact location-sensing optical image guide fiber Lagrangian multiplier maximum-likelihood estimation optimal plane fitting
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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