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1. Printed Soft Sensor with Passivation Layers for the Detection of Object Slippage by a Robotic Gripper

Author

Reo Miura, Tomohito Sekine, Yi-Fei Wang, Jinseo Hong, Yushi Watanabe, Keita Ito, Yoshinori Shouji, Yasunori Takeda, Daisuke Kumaki, Fabrice Domingues Dos Santos, Atsushi Miyabo, and Shizuo Tokito

Subjects
wearable sensing, soft sensor, robotics, shear force, dynamic friction coefficient, Mechanical engineering and machinery, TJ1-1570
Abstract

Tactile sensing, particularly the detection of object slippage, is required for skillful object handling by robotic grippers. The real-time measurement and identification of the dynamic shear forces that result from slippage events are crucial for slip detection and effective object interaction. In this study, a ferroelectric polymer-based printed soft sensor for object slippage detection was developed and fabricated by screen printing. The proposed sensor demonstrated a sensitivity of 8.2 μC·cm−2 and was responsive to shear forces applied in both the parallel and perpendicular directions. An amplifier circuit, based on a printed organic thin-film transistor, was applied and achieved a high sensitivity of 0.1 cm2/V·s. Therefore, this study experimentally demonstrates the effectiveness of the proposed printable high-sensitivity tactile sensor, which could serve as part of a wearable robotic e-skin. The sensor could facilitate the production of a system to detect and prevent the slippage of objects from robotic grippers.

Published
2020
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2. Printed Soft Sensor with Passivation Layers for the Detection of Object Slippage by a Robotic Gripper

Author

Fabrice Domingues Dos Santos, Yushi Watanabe, Reo Miura, Daisuke Kumaki, Keita Ito, Yasunori Takeda, Yoshinori Shouji, Atsushi Miyabo, Jinseo Hong, Tomohito Sekine, Yi-Fei Wang, and Shizuo Tokito

Subjects
Computer science, Acoustics, lcsh:Mechanical engineering and machinery, Shear force, dynamic friction coefficient, 02 engineering and technology, 010402 general chemistry, 01 natural sciences, Article, shear force, law.invention, law, soft sensor, lcsh:TJ1-1570, Electrical and Electronic Engineering, robotics, business.industry, Mechanical Engineering, Amplifier, Transistor, Robotics, 021001 nanoscience & nanotechnology, Soft sensor, 0104 chemical sciences, wearable sensing, Control and Systems Engineering, Grippers, Slippage, Artificial intelligence, 0210 nano-technology, business, Tactile sensor
Abstract

Tactile sensing, particularly the detection of object slippage, is required for skillful object handling by robotic grippers. The real-time measurement and identification of the dynamic shear forces that result from slippage events are crucial for slip detection and effective object interaction. In this study, a ferroelectric polymer-based printed soft sensor for object slippage detection was developed and fabricated by screen printing. The proposed sensor demonstrated a sensitivity of 8.2 &mu, C&middot, cm&minus, 2 and was responsive to shear forces applied in both the parallel and perpendicular directions. An amplifier circuit, based on a printed organic thin-film transistor, was applied and achieved a high sensitivity of 0.1 cm2/V&middot, s. Therefore, this study experimentally demonstrates the effectiveness of the proposed printable high-sensitivity tactile sensor, which could serve as part of a wearable robotic e-skin. The sensor could facilitate the production of a system to detect and prevent the slippage of objects from robotic grippers.

Published
2020

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