NDLI: A tactile sensor for the fingertips of the humanoid robot iCub

Content Provider	IEEE Xplore Digital Library
Author	Schmitz, A. Maggiali, M. Natale, L. Bonino, B. Metta, G.
Copyright Year	2010
Description	Author affiliation: Italian Institute of Technology, 16163 Genoa, Italy (Schmitz, A.; Maggiali, M.; Natale, L.; Bonino, B.; Metta, G.)
Abstract	In order to successfully perform object manipulation, humanoid robots must be equipped with tactile sensors. However, the limited space that is available in robotic fingers imposes severe design constraints. In [1] we presented a small prototype fingertip which incorporates a capacitive pressure system. This paper shows an improved version, which has been integrated on the hand of the humanoid robot iCub. The fingertip is 14.5 mm long and 13 mm wide. The capacitive pressure sensor system has 12 sensitive zones and includes the electronics to send the 12 measurements over a serial bus with only 4 wires. Each synthetic fingertip is shaped approximately like a human fingertip. Furthermore, an integral part of the capacitive sensor is soft silicone foam, and therefore the fingertip is compliant. We describe the structure of the fingertip, their integration on the humanoid robot iCub and present test results to show the characteristics of the sensor.
Starting Page	2212
Ending Page	2217
File Size	1510111
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5648838
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Probes Humanoid robots Capacitive sensors Sensor systems Pressure measurement
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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Improvement of tactile capacitive sensors of the humanoid robot iCub's fingertips

Grasping and guiding a human with a humanoid robot

A prototype fingertip with high spatial resolution pressure sensing for the robot iCub

Touch sensors for humanoid hands

Development of a flexible tactile sensor system for a humanoid robot

Sensor equipped robot control

System approach: A paradigm for robotic tactile sensing

Object's Rolling Manipulations of Dual Robot Hands with Tactile Sensor

Measurements(arbitrary units) integrating tactile sensors into the hands of the humanoid robot icub.

A tactile sensor for the fingertips of the humanoid robot iCub

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Improvement of tactile capacitive sensors of the humanoid robot iCub's fingertips

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