TY - GEN
T1 - A Series Elastic Tactile Sensing Array for Tactile Exploration of Deformable and Rigid Objects
AU - Kappassov, Zhanat
AU - Baimukashev, Daulet
AU - Adiyatov, Olzhas
AU - Salakchinov, Shyngys
AU - Massalin, Yerzhan
AU - Varol, Huseyin Atakan
N1 - Funding Information:
This work was partially supported by the Ministry of Education and Science of the Republic of Kazakhstan grant Methods for Safe Human Robot Interaction with Variable Impedance Actuated Robots
Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/27
Y1 - 2018/12/27
N2 - Tactile sensing arrays are used to detect contacts of robotic systems with the environment. They are particularly useful for scenarios in which vision-based sensors cannot be used. Thanks to the presence of multiple sensing elements, tactile arrays also provide spatial information about the contact location. In this work, we present our series elastic tactile array to enable tactile exploration for position-controlled robot manipulators. Sixteen compliant sensing elements are arranged as a 4×4 array. This allows the position-controlled robot to explore objects via palpation. Tactile sensing was accomplished by measuring the change of the magnetic field caused by neodymium magnets embedded into the series elastic elements. We demonstrate the efficacy of our sensor with two sets of experiments involving physical interaction scenarios. Firstly, we show that the sensor can be used to differentiate between rigid and deformable objects. Secondly, we show that point clouds of objects can be generated quickly with our sensor module attached to a position-controlled robot manipulator as an end-effector.
AB - Tactile sensing arrays are used to detect contacts of robotic systems with the environment. They are particularly useful for scenarios in which vision-based sensors cannot be used. Thanks to the presence of multiple sensing elements, tactile arrays also provide spatial information about the contact location. In this work, we present our series elastic tactile array to enable tactile exploration for position-controlled robot manipulators. Sixteen compliant sensing elements are arranged as a 4×4 array. This allows the position-controlled robot to explore objects via palpation. Tactile sensing was accomplished by measuring the change of the magnetic field caused by neodymium magnets embedded into the series elastic elements. We demonstrate the efficacy of our sensor with two sets of experiments involving physical interaction scenarios. Firstly, we show that the sensor can be used to differentiate between rigid and deformable objects. Secondly, we show that point clouds of objects can be generated quickly with our sensor module attached to a position-controlled robot manipulator as an end-effector.
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U2 - 10.1109/IROS.2018.8593755
DO - 10.1109/IROS.2018.8593755
M3 - Conference contribution
AN - SCOPUS:85062994375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 520
EP - 525
BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Y2 - 1 October 2018 through 5 October 2018
ER -