Flexible piezoelectric sensor array for touch sensing of robot hand

Sohyun Kim; Hyunho Shin; Kahye Song; Youngsu Cha

doi:10.1109/URAI.2019.8768644

Flexible piezoelectric sensor array for touch sensing of robot hand

Sohyun Kim, Hyunho Shin, Kahye Song, Youngsu Cha

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

8 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2019 16th International Conference on Ubiquitous Robots, UR 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	21-25
Number of pages	5
ISBN (Electronic)	9781728132327
DOIs	https://doi.org/10.1109/URAI.2019.8768644
Publication status	Published - 2019 Jun
Externally published	Yes
Event	16th International Conference on Ubiquitous Robots, UR 2019 - Jeju, Korea, Republic of Duration: 2019 Jun 24 → 2019 Jun 27

Publication series

Name	2019 16th International Conference on Ubiquitous Robots, UR 2019

Conference

Conference	16th International Conference on Ubiquitous Robots, UR 2019
Country/Territory	Korea, Republic of
City	Jeju
Period	19/6/24 → 19/6/27

Bibliographical note

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.

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Human-Computer Interaction
Mechanical Engineering
Control and Optimization

Access to Document

10.1109/URAI.2019.8768644

Cite this

Kim, S., Shin, H., Song, K., & Cha, Y. (2019). Flexible piezoelectric sensor array for touch sensing of robot hand. In 2019 16th International Conference on Ubiquitous Robots, UR 2019 (pp. 21-25). Article 8768644 (2019 16th International Conference on Ubiquitous Robots, UR 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2019.8768644

Flexible piezoelectric sensor array for touch sensing of robot hand. / Kim, Sohyun; Shin, Hyunho; Song, Kahye et al.
2019 16th International Conference on Ubiquitous Robots, UR 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 21-25 8768644 (2019 16th International Conference on Ubiquitous Robots, UR 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kim, S, Shin, H, Song, K & Cha, Y 2019, Flexible piezoelectric sensor array for touch sensing of robot hand. in 2019 16th International Conference on Ubiquitous Robots, UR 2019., 8768644, 2019 16th International Conference on Ubiquitous Robots, UR 2019, Institute of Electrical and Electronics Engineers Inc., pp. 21-25, 16th International Conference on Ubiquitous Robots, UR 2019, Jeju, Korea, Republic of, 19/6/24. https://doi.org/10.1109/URAI.2019.8768644

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title = "Flexible piezoelectric sensor array for touch sensing of robot hand",

abstract = "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.",

author = "Sohyun Kim and Hyunho Shin and Kahye Song and Youngsu Cha",

note = "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: {\textcopyright} 2019 IEEE.; 16th International Conference on Ubiquitous Robots, UR 2019 ; Conference date: 24-06-2019 Through 27-06-2019",

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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.

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Flexible piezoelectric sensor array for touch sensing of robot hand

Abstract

Publication series

Conference

Bibliographical note

ASJC Scopus subject areas

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