Augmenting curved robot surfaces with soft tactile skin. Büscher, G., Meier, M., Walck, G., Haschke, R., & Ritter, H. J. In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1514–1519, September, 2015. doi abstract bibtex We present a novel, soft, tactile skin composed of a fabric-based, stretchable sensor technology based on the piezoresistive effect. Softness is achieved by a combination of a soft silicone padding covered by a skin of more durable, tearproof silicone with an imprinted surface pattern mimicking human glabrous skin, found e.g. in fingertips. Its very thin layer structure (starting from 2.5 mm) facilitates integration on existing robot surfaces, particularly on small and highly curved links. For example, we augmented our Shadow Dexterous Hand with 12 palm sensors, and 2 resp. 3 sensors in the middle resp. proximal phalanges of each finger. To demonstrate the usefulness and efficiency of the proposed sensor skin, we performed a challenging classification task distinguishing squeezed objects based on their varying stiffness.
@inproceedings{buscher_augmenting_2015,
title = {Augmenting curved robot surfaces with soft tactile skin},
doi = {10.1109/IROS.2015.7353568},
abstract = {We present a novel, soft, tactile skin composed of a fabric-based, stretchable sensor technology based on the piezoresistive effect. Softness is achieved by a combination of a soft silicone padding covered by a skin of more durable, tearproof silicone with an imprinted surface pattern mimicking human glabrous skin, found e.g. in fingertips. Its very thin layer structure (starting from 2.5 mm) facilitates integration on existing robot surfaces, particularly on small and highly curved links. For example, we augmented our Shadow Dexterous Hand with 12 palm sensors, and 2 resp. 3 sensors in the middle resp. proximal phalanges of each finger. To demonstrate the usefulness and efficiency of the proposed sensor skin, we performed a challenging classification task distinguishing squeezed objects based on their varying stiffness.},
booktitle = {2015 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems} ({IROS})},
author = {Büscher, G. and Meier, M. and Walck, G. and Haschke, R. and Ritter, H. J.},
month = sep,
year = {2015},
keywords = {Fabrics, Force, Piezoresistance, Robot sensing systems, Skin, curved robot surface, dexterous manipulators, fabric-based sensor technology, human-robot interaction, palm sensor, piezoresistive effect, sensors, shadow dexterous hand, soft silicone padding, soft tactile skin, stretchable sensor technology, tearproof silicone},
pages = {1514--1519}
}
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