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Author : Salvatore Pirozzi
Publisher : MDPI
Page : 248 pages
File Size : 21,75 MB
Release : 2021-03-17
Category : Technology & Engineering
ISBN : 3036504249
The book covers different aspects: - Innovative technologies for tactile sensors development - Tactile data interpretation for control purposes - Alternative sensing technologies - Multi-sensor systems for grasping and manipulation - Sensing solutions for impaired people
Author : Ravinder S. Dahiya
Publisher : Springer Science & Business Media
Page : 258 pages
File Size : 20,2 MB
Release : 2012-07-29
Category : Technology & Engineering
ISBN : 9400705794
Future robots are expected to work closely and interact safely with real-world objects and humans alike. Sense of touch is important in this context, as it helps estimate properties such as shape, texture, hardness, material type and many more; provides action related information, such as slip detection; and helps carrying out actions such as rolling an object between fingers without dropping it. This book presents an in-depth description of the solutions available for gathering tactile data, obtaining aforementioned tactile information from the data and effectively using the same in various robotic tasks. The efforts during last four decades or so have yielded a wide spectrum of tactile sensing technologies and engineered solutions for both intrinsic and extrinsic touch sensors. Nowadays, new materials and structures are being explored for obtaining robotic skin with physical features like bendable, conformable, and stretchable. Such features are important for covering various body parts of robots or 3D surfaces. Nonetheless, there exist many more hardware, software and application related issues that must be considered to make tactile sensing an effective component of future robotic platforms. This book presents an in-depth analysis of various system related issues and presents the trade-offs one may face while developing an effective tactile sensing system. For this purpose, human touch sensing has also been explored. The design hints coming out of the investigations into human sense of touch can be useful in improving the effectiveness of tactile sensory modality in robotics and other machines. Better integration of tactile sensors on a robot’s body is prerequisite for the effective utilization of tactile data. The concept of semiconductor devices based sensors is an interesting one, as it allows compact and fast tactile sensing systems with capabilities such as human-like spatio-temporal resolution. This book presents a comprehensive description of semiconductor devices based tactile sensing. In particular, novel Piezo Oxide Semiconductor Field Effect Transistor (POSFET) based approach for high resolution tactile sensing has been discussed in detail. Finally, the extension of semiconductors devices based sensors concept to large and flexile areas has been discussed for obtaining robotic or electronic skin. With its multidisciplinary scope, this book is suitable for graduate students and researchers coming from diverse areas such robotics (bio-robots, humanoids, rehabilitation etc.), applied materials, humans touch sensing, electronics, microsystems, and instrumentation. To better explain the concepts the text is supported by large number of figures.
Author : R. Andrew Russell
Publisher :
Page : 192 pages
File Size : 19,92 MB
Release : 1990
Category : Computers
ISBN :
This work introduces tactile sensing for those engaged in advanced, sensor-based robotics, with special reference to problems of addressing arrays of sensor elements. It describes tactile sensors to register contact, surface profile, thermal properties and other tactile sensing modes. The use of robot manipulators to provide mobility for tactile sensors, and techniques for applying tactile sensing in robotic manipulation and recognition tasks are also covered. The various applications of this technology are discussed, and robot hands and grips are detailed.
Author : Salvatore Pirozzi
Publisher :
Page : 248 pages
File Size : 33,8 MB
Release : 2021
Category :
ISBN : 9783036504254
The book covers different aspects: - Innovative technologies for tactile sensors development - Tactile data interpretation for control purposes - Alternative sensing technologies - Multi-sensor systems for grasping and manipulation - Sensing solutions for impaired people.
Author : H.R. Nicholls
Publisher : World Scientific Publishing Company Incorporated
Page : 312 pages
File Size : 40,8 MB
Release : 1992-01-01
Category : Technology & Engineering
ISBN : 9789810240462
Advanced robot systems require sensory information to enable them to make decisions and to carry out actions in a versatile, autonomous way. Humans make considerable use of information derived through touch, and an emerging domain of robot sensing is tactile sensing. This book considers various aspects of tactile sensing, from sensor hardware design through to the use of tactile data in exploratory situations using a multi-fingered robot hand. Both introductory material and new research results are presented, providing detailed coverage of the subject. Applications from assembly automation to dextrous manipulation are examined, and a particular theme is the relevance of biological touch to robotic tactile sensing. The integration of these topics into a single volume make the book essential reading for all those interested in robotic sensing. Contents: Introduction to Tactile SensingTactile Sensor DesignsProcessing and Using Tactile Sensor Data "(H R Nicholls)"Planar Elasticity for Tactile Sensing "(R S Fearing)"Integrating Tactile Sensors — ESPRIT 278 "(Z G Rzepczynski)"Distributed Touch Sensing "(H R Nicholls & N W Hardy)"The Human Tactile System "(L Moss-Salentijn)"Lessons from the Study of Biological Touch for Robotic Tactile Sensing "(S J Lederman & D T Pawluck)"Lessons from the Study of Biological Touch for Robotic Haptic Sensing "(S J Lederman et al.)"Object Recognition Using Active Tactile Sensing "(P K Allen)"Experiments in Active Haptic Perception with the Utah-MIT Dextrous Hand "(P K Allen et al.)"Future Trends in Tactile Sensing "(H R Nicholls)"Appendix — Basic Linear Elasticity "(R S Fearing)" Readership: Computer scientists and engineers.
Author : Ye Zhou
Publisher : Woodhead Publishing
Page : 314 pages
File Size : 20,59 MB
Release : 2021-02-08
Category : Technology & Engineering
ISBN : 0128206330
Functional Tactile Sensors: Materials, Devices and Integrations focuses on the subject of novel materials design and device integration of tactile sensors for functional applications. The book addresses the design, materials characteristics, device operation principles, specialized device application and mechanisms of the latest reported tactile sensors. The emphasis of the book lies in the materials science aspects of tactile sensors-understanding the relationship between material properties and device performance. It will be an ideal resource for researchers working in materials science, engineering and physics. Includes the latest advances and recent developments in tactile sensors for artificial intelligence applications Reviews the relationship between materials properties and device performance Addresses materials and device design strategies for targeted sensing applications
Author : Qiang Li
Publisher : Academic Press
Page : 374 pages
File Size : 40,34 MB
Release : 2022-04-02
Category : Computers
ISBN : 0323904173
Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects’ property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control Introduces recent work on human’s dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches
Author : Ravinder S. Dahiya
Publisher :
Page : pages
File Size : 36,80 MB
Release : 2008
Category :
ISBN : 9789537619312
Despite an important role and being a component of robotics roughly as long as vision, the use of touch sensing in robots is lesser than other sensory modalities e.g. vision and auditory sensing, thereby restricting the cognitive capabilities of the robots and strongly limiting their real world interaction capabilities. The lesser usage of touch sensing could partly be attributed to the complex and distributed nature of tactile sensing and partly also to the non availability of satisfactory tactile sensors. The physical problems like placement, robustness of sensors, wiring complexity etc. also pose a hurdle in effective utilization of tactile sensors. The interaction of robots with environment through tactile sensing has largely been limited to the measurement of static interaction forces whereas real world interaction involves both static and dynamic forces. Similarly, most of the sensors are designed to measure static pressure or forces from which it is difficult to obtain information like friction, stickiness, texture, hardness and elasticity. In real world, one needs to measure all these contact parameters which may require use of more than one transduction method simultaneously. As an example measurement of stress and stress rate can be done by having capacitive and piezoelectric transducers. Thus, more and more multifunctional tactile sensors? very few of which have been reported (Engel, Chen et al. 2005) - are required for real world interaction. The pursuit of tactile sensing for robotic applications, in the last two decades, has resulted in the development of many touch sensors - exploring nearly all modes of transduction -but; none could produce a tactile analog of CMOS optical arrays. Clearly, the emphasis, `only' on the sensor development has resulted in a large number of `bench top' sensors? suitable in a laboratory environment, and having limited practical usage in the robotic systems. This is surprising, considering the long history of gripper design for manipulative tasks. It is believed that the lack of the system approach has rendered many of them unusable, despite having a good design and performance (Dahiya, Valle et al. March, 2008). It is evident from the fact that very few works on tactile sensing have taken into account system constraints, like those posed by other sensors or by the robot controller, processing power etc. As an example, large numbers of tactile sensors put a pressure on the computing power required to process large number of data, whereas same can be solved (or at least reduced) by having distributed computing starting right from the transducer level (Dahiya, Valle et al. March, 2008). A system approach for the tactile sensing can be helpful in filling the gaps between tactile sensing and other sense modalities.
Author : Youssef M. Naim
Publisher :
Page : 148 pages
File Size : 19,64 MB
Release : 1992
Category : Robotics
ISBN :
Author : Ye Zhou
Publisher : Woodhead Publishing
Page : 316 pages
File Size : 14,33 MB
Release : 2021-01-20
Category : Technology & Engineering
ISBN : 0128209127
Functional Tactile Sensors: Materials, Devices and Integrations focuses on the subject of novel materials design and device integration of tactile sensors for functional applications. The book addresses the design, materials characteristics, device operation principles, specialized device application and mechanisms of the latest reported tactile sensors. The emphasis of the book lies in the materials science aspects of tactile sensors—understanding the relationship between material properties and device performance. It will be an ideal resource for researchers working in materials science, engineering and physics. Includes the latest advances and recent developments in tactile sensors for artificial intelligence applications Reviews the relationship between materials properties and device performance Addresses materials and device design strategies for targeted sensing applications