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A Series Elastic Tactile Sensing Array for Tactile Exploration of Deformable and Rigid Objects

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dc.contributor.author Kappassov, Zhanat
dc.contributor.author Baimukashev, Daulet
dc.contributor.author Adiyatov, Olzhas
dc.contributor.author Atakan Varol, Huseyin
dc.date.accessioned 2018-08-15T09:23:50Z
dc.date.available 2018-08-15T09:23:50Z
dc.date.issued 2018
dc.identifier.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. en_US
dc.identifier.uri http://nur.nu.edu.kz/handle/123456789/3384
dc.description.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 en_US
dc.language.iso en en_US
dc.rights Attribution-NonCommercial-ShareAlike 3.0 United States *
dc.rights.uri http://creativecommons.org/licenses/by-nc-sa/3.0/us/ *
dc.subject Tactile sensing en_US
dc.subject tactile sensors en_US
dc.title A Series Elastic Tactile Sensing Array for Tactile Exploration of Deformable and Rigid Objects en_US
dc.type Article en_US
workflow.import.source science


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