Editorial: Neural plasticity for rich and uncertain robotic information streams

Editorial: Neural plasticity for rich and uncertain robotic information stream

Tactile Sensing for Robotic Applications

This chapter provides an overview of tactile sensing in robotics. This chapter is an attempt to answer three basic questions: \u2022 What is meant by Tactile Sensing? \u2022 Why Tactile Sensing is important? \u2022 How Tactile Sensing is achieved? The chapter is organized to sequentially provide the answers to above basic questions. Tactile sensing has often been considered as force sensing, which is not wholly true. In order to clarify such misconceptions about tactile sensing, it is defined in section 2. Why tactile section is important for robotics and what parameters are needed to be measured by tactile sensors to successfully perform various tasks, are discussed in section 3. An overview of `How tactile sensing has been achieved\u2019 is given in section 4, where a number of technologies and transduction methods, that have been used to improve the tactile sensing capability of robotic devices, are discussed. Lack of any tactile analog to Complementary Metal Oxide Semiconductor (CMOS) or Charge Coupled Devices (CCD) optical arrays has often been cited as one of the reasons for the slow development of tactile sensing vis-\ue0-vis other sense modalities like vision sensing. Our own contribution \u2013 development of tactile sensing arrays using piezoelectric polymers and involving silicon micromachining - is an attempt in the direction of achieving tactile analog of CMOS optical arrays. The first phase implementation of these tactile sensing arrays is discussed in section 5. Section 6 concludes the chapter with a brief discussion on the present status of tactile sensing and the challenges that remain to be solved

Real time optical pressure sensing for tactile detection using gold nanocomposite material

For the first time, we propose in this work a new concept of optical tactile pressure sensing. We develop a sensor integrating an optical tapered fiber force sensor based on electromagnetic (EM) coupling effect. The sensor consists of a tapered multimode Si fiber which couples the EM field coming from a broad band lamp source with the flexible gold/PDMS nanocomposite material (GNM). PDMS polymer film was used since it is suitable for the generation of gold nanoparticles starting from gold precursors and consecutively is suitable for light coupling: the formed gold nanoparticles increase the effective refractive index of the PDMS and support the EM coupling with the tapered region. By applying different weights that can be translated to pressure forces to the sensor, we experimentally observe in real time the intensity reduction of the transmittivity response at the output of the fiber sensor. This effect is most likely due to displacement of gold nanoparticles near the tapered region during the pressure application

Advanced Design of Columnar-conical Feeler-type Optical Three-axis Tactile Sensor

AbstractAlthough the three-axis tactile sensor is capable of delicate measurement, it is weak for heavy contact force. In order to enhance resistance to a high degree of applied force, we attached a rubber skin onto the sensor surface to protect the sensing element. FEM analyses found that sensitivity is not significantly reduced and that the skin induces subsidiary effects such as the disappearance of insensible areas and the enhancement of stability of the columnar feeler. If the skin is substantially softer than the columnar-conical feeler, the sensor can measure three-axis force without reduction of sensitivity. Based on these simulated results, we produced a columnar-conical feeler-type three-axis tactile sensor with rubber skin. The experimental results show, as demonstrated by FEM analyses, that the sensor possesses three-axis sensing capability and that the insensible area vanishes