A Series Elastic Tactile Sensing Array for Tactile Exploration of Deformable and Rigid Objects

Zhanat Kappassov, Daulet Baimukashev, Olzhas Adiyatov, Shyngys Salakchinov, Yerzhan Massalin, Huseyin Atakan Varol

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages520-525
Number of pages6
ISBN (Electronic)9781538680940
DOIs
Publication statusPublished - Dec 27 2018
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
Duration: Oct 1 2018Oct 5 2018

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
CountrySpain
CityMadrid
Period10/1/1810/5/18

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Kappassov, Z., Baimukashev, D., Adiyatov, O., Salakchinov, S., Massalin, Y., & Varol, H. A. (2018). A Series Elastic Tactile Sensing Array for Tactile Exploration of Deformable and Rigid Objects. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 (pp. 520-525). [8593755] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2018.8593755