Novel Approaches for Bio-inspired Mechano-Sensors

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In this paper, we present novel approaches for building tactile-
array sensors for use in robotic grippers inspired from biology. We start
by describing the sense of touch for humans and we continue by propos-
ing dierent methods to build sensors that mimic this behaviour. For
the static tactile sense we describe the principles of piezoresistive ma-
terials, and continue by outlining how to build a
exible tactile-sensor
array using conductive thread electrodes. An alternative sensor is further
described, with conductive polymer electrodes instead. For the dynamic
tactile sense, we describe the principles of PVDF piezoelectric thin lms
and how can they be used for sensing. The data acquisition system to
process the information from the tactile arrays is covered further. We
validate the proposed approaches by a number of applications: classi-
fying a number of fruits and vegetables using only the haptic feedback
during their palpation, recognizing objects based on their contact prole
and detecting gentle contact and vibrations using the piezoelectric sen-
sor. We conclude by showing what needs to be improved and addressed
further to achieve human-like tactile sensing for robots.
BogserieLecture Notes in Computer Science
Udgave nummer1
Sider (fra-til)12-23
Antal sider12
StatusUdgivet - 2011

Bibliografisk note

LCNS Sublibrary: SL 7 - Artificial Intelligence


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