TY - GEN
T1 - Color-coded fiber-optic tactile sensor for an elastomeric robot skin
AU - Kappassov, Zhanat
AU - Baimukashev, Daulet
AU - Kuanyshuly, Zharaskhan
AU - Massalin, Yerzhan
AU - Urazbayev, Arshat
AU - Varol, Huseyin Atakan
N1 - Funding Information:
This work was partially supported by Nazarbayev University Faculty-development competitive research grants program “Variable Stiffness Tactile Sensor for Robot Manipulation and Object Exploration” 110119FD45119 and 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:
© 2019 IEEE.
Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.
PY - 2019/5
Y1 - 2019/5
N2 - The sense of touch is essential for reliable mapping between the environment and a robot which interacts physically with objects. Presumably, an artificial tactile skin would facilitate safe interaction of the robots with the environment. In this work, we present our color-coded tactile sensor, incorporating plastic optical fibers (POF), transparent silicone rubber and an off-the-shelf color camera. Processing electronics are placed away from the sensing surface to make the sensor robust to harsh environments. Contact localization is possible thanks to the lower number of light sources compared to the number of camera POFs. Classical machine learning techniques and a hierarchical classification scheme were used for contact localization. Specifically, we generated the mapping from stimulation to sensation of a robotic perception system using our sensor. We achieved a force sensing range up to 18 N with the force resolution of around 3.6 N and the spatial resolution of 8 mm. The color-coded tactile sensor is suitable for tactile exploration and might enable further innovations in robust tactile sensing.
AB - The sense of touch is essential for reliable mapping between the environment and a robot which interacts physically with objects. Presumably, an artificial tactile skin would facilitate safe interaction of the robots with the environment. In this work, we present our color-coded tactile sensor, incorporating plastic optical fibers (POF), transparent silicone rubber and an off-the-shelf color camera. Processing electronics are placed away from the sensing surface to make the sensor robust to harsh environments. Contact localization is possible thanks to the lower number of light sources compared to the number of camera POFs. Classical machine learning techniques and a hierarchical classification scheme were used for contact localization. Specifically, we generated the mapping from stimulation to sensation of a robotic perception system using our sensor. We achieved a force sensing range up to 18 N with the force resolution of around 3.6 N and the spatial resolution of 8 mm. The color-coded tactile sensor is suitable for tactile exploration and might enable further innovations in robust tactile sensing.
UR - http://www.scopus.com/inward/record.url?scp=85071461904&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85071461904&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2019.8793262
DO - 10.1109/ICRA.2019.8793262
M3 - Conference contribution
AN - SCOPUS:85071461904
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2146
EP - 2152
BT - 2019 International Conference on Robotics and Automation, ICRA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -