TY - GEN
T1 - Flexible piezoelectric sensor array for touch sensing of robot hand
AU - Kim, Sohyun
AU - Shin, Hyunho
AU - Song, Kahye
AU - Cha, Youngsu
N1 - Funding Information:
The authors are greatly thankful to Chohee Kim for drawing the method and mechanism schematics. Research supported in part by Technology Innovation Program for Development of robotic work control technology capable of grasping and manipulating various objects in everyday life environment based on multimodal recognition and using tools funded by the Ministry of Trade, Industry & Energy under grant number 20001856 and in part by Korea Institute of Science and Technology Institutional Program under grant number 2E29460.
Funding Information:
Research supported in part by Technology Innovation Program for Development of robotic work control technology capable of grasping and manipulating various objects in everyday life environment based on multimodal recognition and using tools funded by the Ministry of Trade, Industry & Energy under grant number 20001856 and in part by Korea Institute of Science and Technology Institutional Program under grant number 2E29460.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/6
Y1 - 2019/6
N2 - Most Autonomous manipulation studies of robot hands require tactile sensors for accurate detection. Flexible tactile sensor reproduces human skin characteristics and provides important tactile information. This paper presents a flexible and compact touch sensor array that can be applied to robot hands. The sensor is manufactured by laser-cut polyvinylidene fluoride (PVDF). A sensor based on PVDF produces voltage output due to the deformation caused by the applied press. The touching location on the sensor is extracted by data processing of the voltage outputs. By the sensing system, the robot hand including the sensor array can monitor in real-time the contact object. The results show that the robot hand recognizes different contact areas when holding objects of various shapes. In addition, the sensor provides a new and simple strategy for dynamic touch sensing while providing new design ideas for electronic skin.
AB - Most Autonomous manipulation studies of robot hands require tactile sensors for accurate detection. Flexible tactile sensor reproduces human skin characteristics and provides important tactile information. This paper presents a flexible and compact touch sensor array that can be applied to robot hands. The sensor is manufactured by laser-cut polyvinylidene fluoride (PVDF). A sensor based on PVDF produces voltage output due to the deformation caused by the applied press. The touching location on the sensor is extracted by data processing of the voltage outputs. By the sensing system, the robot hand including the sensor array can monitor in real-time the contact object. The results show that the robot hand recognizes different contact areas when holding objects of various shapes. In addition, the sensor provides a new and simple strategy for dynamic touch sensing while providing new design ideas for electronic skin.
UR - http://www.scopus.com/inward/record.url?scp=85070543334&partnerID=8YFLogxK
U2 - 10.1109/URAI.2019.8768644
DO - 10.1109/URAI.2019.8768644
M3 - Conference contribution
AN - SCOPUS:85070543334
T3 - 2019 16th International Conference on Ubiquitous Robots, UR 2019
SP - 21
EP - 25
BT - 2019 16th International Conference on Ubiquitous Robots, UR 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 16th International Conference on Ubiquitous Robots, UR 2019
Y2 - 24 June 2019 through 27 June 2019
ER -