A Series Elastic Tactile Sensing Array for Tactile Exploration of Deformable and Rigid Objects
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Date
2018
Authors
Kappassov, Zhanat
Baimukashev, Daulet
Adiyatov, Olzhas
Atakan Varol, Huseyin
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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 endeffector
Description
Keywords
Tactile sensing, tactile sensors
Citation
Zhanat Kappassov, Daulet Baimukashev, Olzhas Adiyatov, Shyngys Salakchinov, Yerzhan Massalin, Huseyin Atakan Varol. A Series Elastic Tactile Sensing Array for Tactile Exploration of Deformable and Rigid Objects.