HapticandTactileSensorsforPlanetaryExplorationRobots.pptVIP

University of Illinois, Urbana-Champagne, Journal of Microengineering. 2003 16722 S2009 * 16722 S2009 * Journal of MEMS, 2008, University of Minesota. 16722 S2009 * 16722 S2009 * 16722 S2009 * 16722 S2009 * 16722 S2009 * 16722 S2009 * 16722 S2009 * 16722 S2009 * SinodaLab , U of Tokyo, Japan 16722 S2009 * SinodaLab , U of Tokyo, Japan 16722 S2009 * 16722 S2009 * * 16722 S2009 * 16722 S2009 16722 S2009 * 16722 S2009 * Tactile Sensors Haptic and Tactile Sensors for Planetary Exploration Robots M. Emre Karagozler emre@ Version 5 sensing sensorsCMU SCS RI 16722 S2009 * Tactile Sensors 16722 S2009 Haptics, Tactile Sensing: In robotics, they are used in slightly different context: Tactile (sensor): “a device that measures parameters of a contact interaction between the device and some physical stimuli” [Nicholls and Lee, 1989]  Main application areas: cutaneous sensors, sensing fingers, soft materials, industrial robot grippers, multifingered hands, probes and whiskers, analysis of sensing devices, haptic perception, processing sensory data * Tactile Sensors 16722 S2009 Tactile Sensing: What is sensed? Deformation of bodies (strain) or fields (electric or magnetic). Through deformations, measure change of parameters, and find: Static texture, local compliance, or local shape Force (normal and/or shear) (indirect) Pressure Slippage Categories of tactile sensing Simple contact Magnitude of force three-dimensional shape Slip Thermal properties * Tactile Sensors 16722 S2009 Tactile sensing: Methods of transduction Usually an array of discrete sensing elements or a continuous sensitive medium with discrete sampling. Sensing elements can be many types: On/Off: a simple switch Resistive: strain gauge, piezoresistive. Capacitive many other methods (magnetic, piezoelectric, thermal) * Tactile Sensors 16722 S2009 1) Resistance change elements: One of the most common. -Sensing element changes resistance when strained. Strain gauge: a thin film with a