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Article
Publication date: 21 January 2019

Tactile sensing for surgical and collaborative robots and robotic grippers

Robert Bogue

This paper aims to illustrate the increasingly important role played by tactile sensing in robotics by considering three specific fields of application.

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Abstract

Purpose

This paper aims to illustrate the increasingly important role played by tactile sensing in robotics by considering three specific fields of application.

Design/methodology/approach

Following a short introduction, this paper first provides details of tactile sensing principles, technologies, products and research. The following sections consider tactile sensing applications in robotic surgery, collaborative robots and robotic grippers. Finally, brief conclusions are drawn.

Findings

Tactile sensors are the topic of an extensive and technologically diverse research effort, with sensing skins attracting particular attention. Many products are now available commercially. New generations of surgical robots are emerging which use tactile sensing to provide haptic feedback, thereby eliminating the surgeon’s total reliance on visual control. Many collaborative robots use tactile and proximity sensing as key safety mechanisms and some use sensing skins. Some skins can detect both human proximity and physical contact. Sensing skins that can be retrofitted have been developed. Commercial tactile sensors have been incorporated into robotic grippers, notably anthropomorphic types, and allow the handling of delicate objects and those with varying shapes and sizes. Tactile sensing uses will inevitably increase because of the ever-growing numbers of robots interacting with humans.

Originality/value

This study provides a detailed account of the growing use of tactile sensing in robotics in three key areas of application.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 1
Type: Research Article
DOI: https://doi.org/10.1108/IR-12-2018-0255
ISSN: 0143-991X

Keywords

  • Grippers
  • Haptic feedback
  • Robotic surgery
  • Collaborative robot
  • Sensing skins
  • Tactile sensing

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Article
Publication date: 1 March 1993

Imaging Pneumatic Proximity‐to‐tactile Sensing

R. Benhadj, B. Dawson and M.M.A. Safa

The mainstream of current research work in array tactile sensors concentrates on using a soft compliant membrane as a means of transmitting the effect of variable external…

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Abstract

The mainstream of current research work in array tactile sensors concentrates on using a soft compliant membrane as a means of transmitting the effect of variable external stimuli to the discrete sensing elements. The soft compliant devices are usually made of a thin flexible substrate such as pressure sensitive pads, conductive materials, conductive coatings, piezoelectric polymers or elastomers. A large number of tactile sensor designs using these types of materials have been investigated by researchers. These include the use of anisotropically conductive silicone rubber (ACS), sponges containing carbon particles or felted carbon fibres, piezoelectric polymers such as polyvinylidene fluoride (PVF2) and conductive elastomers such as Dynacom materials consisting of silicone rubber mixed with metallic compounds.

Details

Sensor Review, vol. 13 no. 3
Type: Research Article
DOI: https://doi.org/10.1108/eb007912
ISSN: 0260-2288

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Article
Publication date: 1 March 2000

Pneumatic proximity‐to‐tactile imaging device

R. Benhadj and R.L. Roome

This paper describes the development and the performance characteristics of a pneumatic proximity‐to‐tactile sensing device for automated recognition of manufacturing…

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Abstract

This paper describes the development and the performance characteristics of a pneumatic proximity‐to‐tactile sensing device for automated recognition of manufacturing parts within flexible manufacturing environments. This tactile sensing device utilises a densely packed line array of IC piezoresistive pressure sensors, providing continuous variable back pressure output. The sensing elements incorporate a corresponding line matrix of air jets which form an air cushion between the sensing plane and the target when striking the object of interest. The back pressure output levels form the basis for the tasks of object detection and recognition. The system described is a research prototype and has been evaluated on a simple test rig: in this form it is not at a stage where it can be applied to a recognition situation on the shop floor.

Details

Sensor Review, vol. 20 no. 1
Type: Research Article
DOI: https://doi.org/10.1108/02602280010311383
ISSN: 0260-2288

Keywords

  • Imaging
  • Pressure sensors

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Article
Publication date: 21 August 2017

Recent developments in robotic tactile perception

Robert Bogue

This paper aims to provide details of recent developments in robotic tactile sensing.

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Abstract

Purpose

This paper aims to provide details of recent developments in robotic tactile sensing.

Design/methodology/approach

Following a short introduction, this paper first provides an overview of tactile sensing effects and technologies. It then discusses recent developments in tactile sensing skins. Tactile sensing for robotic prosthetics and hands is then considered and is followed by a discussion of “tactile intelligence”. Various experimental results are included. Finally, brief concluding comments are drawn.

Findings

This shows that many advanced, sensitive and technologically varied tactile sensing devices are being developed. These devices are expected to impart robots with a range of enhanced capabilities such as improved gripping and manipulation, object recognition, the control and robotic hands and prosthetics and collision detection.

Originality/value

Tactile sensing has an increasingly important role to play in robotics, and this paper provides a technical insight into a number of recent developments and their applications.

Details

Industrial Robot: An International Journal, vol. 44 no. 5
Type: Research Article
DOI: https://doi.org/10.1108/IR-06-2017-0106
ISSN: 0143-991X

Keywords

  • Robot
  • Gripping
  • Sensing skin
  • Tactile sensor

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Article
Publication date: 22 March 2013

Electrical properties estimation of conductive silicone rubber for tactile sensing structure

Dalibor Petković, Mirna Issa, Nenad D. Pavlović and Lena Zentner

The aim of this paper is to investigate implementations of carbon‐black filled silicone rubber for tactile sensation.

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Abstract

Purpose

The aim of this paper is to investigate implementations of carbon‐black filled silicone rubber for tactile sensation.

Design/methodology/approach

The sensor‐elements for this tactile sensing structure were made by press‐curing from carbon‐black filled silicone rubber.

Findings

The behaviour of the silicone rubber shows strong non‐linearity, therefore, the sensor cannot be used for accurate measurements. The greatest advantage of this material lies in its high elasticity.

Originality/value

A new method for artificial tactile sensing skin for robotic applications.

Details

Sensor Review, vol. 33 no. 2
Type: Research Article
DOI: https://doi.org/10.1108/02602281311299653
ISSN: 0260-2288

Keywords

  • Tactile sensor
  • Conductive silicone rubber
  • Sensing structure
  • Compression strain
  • Sensors
  • Robotics

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Article
Publication date: 1 September 2004

A supported membrane type sensor for medical tactile mapping

Javad Dargahi and Siamak Najarian

This paper describes the design, fabrication, testing, and mathematical modeling of a supported membrane type polyvinylidene fluoride (PVDF) tactile sensor. Using the…

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Abstract

This paper describes the design, fabrication, testing, and mathematical modeling of a supported membrane type polyvinylidene fluoride (PVDF) tactile sensor. Using the designed membrane type sensor (MTS), it is shown that the entire surface of the PVDF film can be employed as a means of detecting the force magnitude and its application point. This is accomplished by utilizing only three sensing elements. Unlike the array type tactile sensors, in which the regions between the neighboring sensing elements are not active, all the surface points of the sensor are practically active in this MTS. A geometric mapping process is introduced, thereby, the loci of the isocharge contours for the three sensing elements are determined by applying force on various points of the sensor surface. In order to form a criterion for the comparison between the experimental findings and the theoretical analysis data, and also to determine the magnitude of the stresses generated in the membrane, finite element modeling is used. The correlation between the theoretical predictions and experimental findings is proven to be reasonable. Potentially, the designed MTS can be incorporated into various medical probes for tactile imaging.

Details

Sensor Review, vol. 24 no. 3
Type: Research Article
DOI: https://doi.org/10.1108/02602280410545416
ISSN: 0260-2288

Keywords

  • Robotics
  • Sensors
  • Finite element analysis
  • Medical equipment

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Article
Publication date: 7 September 2012

Design and fabrication of a thin and soft tactile force sensor array based on conductive rubber

Xuefeng Zhang, Yulong Zhao and Xuelei Zhang

The purpose of this paper is to provide a thin tactile force sensor array based on conductive rubber and to offer descriptions of the sensor design, fabrication and test.

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Abstract

Purpose

The purpose of this paper is to provide a thin tactile force sensor array based on conductive rubber and to offer descriptions of the sensor design, fabrication and test.

Design/methodology/approach

The sensor array consists of a sandwich structure. Sensing elements are distributed discretely in the sensor. Each sensing element has two electrodes and a piece of conductive rubber with piezoresistive property. The electrodes, as well as the conductive trace for signal transmission, are printed on the substrate layer by the screen printing technique. A scanning circuit based on zero potential method and an experimental set‐up based on balance to characterize the sensor array are designed and implemented in the test of the sensor array.

Findings

Experimental results verify the validity of the sensor array in measuring the vertical tactile force between the sensing elements and the object.

Research limitations/implications

In this paper, all the sensors are tested without calibration procedures and the procedure of the dynamic test is implemented by manual operation.

Practical implications

The sensor array could be applied to measure the plantar force for gait detection in clinical applications.

Originality/value

The paper presents a tactile force sensor array with discrete sensing elements to essentially restrict the cross‐talk among sensing elements. This paper will provide many practical details that can help others in the field.

Details

Sensor Review, vol. 32 no. 4
Type: Research Article
DOI: https://doi.org/10.1108/02602281211257506
ISSN: 0260-2288

Keywords

  • Sensors
  • Rubbers
  • Array signal processing
  • Tactile force
  • Sensor array
  • Conductive rubber
  • Piezoresistive

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Article
Publication date: 18 September 2007

Design and fabrication of a new tactile probe for measuring the modulus of elasticity of soft tissues

Hamid Roham, Siamak Najarian, Seyed Mohsen Hosseini and Javad Dargahi

The paper aims to discuss the design, fabrication, communication, testing, and simulation of a new tactile probe called Elastirob used to measure the modulus of elasticity…

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Abstract

Purpose

The paper aims to discuss the design, fabrication, communication, testing, and simulation of a new tactile probe called Elastirob used to measure the modulus of elasticity of biological soft tissues and soft materials.

Design/methodology/approach

Both finite element modeling and experimental approaches were used in this analysis. Elastirob, with the ability to apply different rates of strain on testing specimens, is accompanied by a tactile display called TacPlay. This display is a custom‐designed user‐friendly interface and is able to evaluate the elasticity in each part of the stress‐strain curve.

Findings

A new device is being constructed that can measure the modulus of elasticity of a sensed object. The results of Elastirob applied on two specimens are reported and compared by the results of experiments obtained by an industrial testing machine. Acceptable validations of Elastirob were achieved from the comparisons.

Research limitations/implications

The designed system can be miniaturized to be used in minimally invasive surgeries in the future.

Practical implications

Elastirob determines the elasticity by drawing the stress‐strain curve and then calculating its slope. The combination of the force sensing resistor, microcontroller and stepper motor provides Elastirob with the ability to apply different rates of strain on testing specimens.

Originality/value

It can be employed in both in vivo and in vitro tests for measuring stiffness of touch objects. For the first time, a device has been designed and tested which is a few orders of magnitude smaller than its industrial counterparts and has considerably lower weight.

Details

Sensor Review, vol. 27 no. 4
Type: Research Article
DOI: https://doi.org/10.1108/02602280710821452
ISSN: 0260-2288

Keywords

  • Elasticity
  • Robotics
  • Tactile sensors
  • Medical equipment
  • Histology

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Article
Publication date: 1 June 2005

Advances in tactile sensors design/manufacturing and its impact on robotics applications – a review

Javad Dargahi and Siamak Najarian

Reviews the benefits and potential application of tactile sensors for use with robots.

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Abstract

Purpose

Reviews the benefits and potential application of tactile sensors for use with robots.

Design/methodology/approach

Includes the most recent advances in both the design/manufacturing of various tactile sensors and their applications in different industries. Although these types of sensors have been adopted in a considerable number of areas, the applications such as, medical, agricultural/livestock and food, grippers/manipulators design, prosthetic, and environmental studies have gained more popularity and are presented in this paper.

Findings

Robots can perform very useful and repetitive tasks in controlled environments. However, when the robots are required to handle the unstructured and changing environments, there is a need for more elaborate means to improve their performance. In this scenario, tactile sensors can play a major role. In the unstructured environments, the robots must be able to grasp objects (or tissues, in the case of medical robots) and move objects from one location to another.

Originality/value

In this work, the emphasis was on the most interesting and fast developing areas of the tactile sensors applications, including, medical, agriculture and food, grippers and manipulators design, prosthetic, and environmental studies.

Details

Industrial Robot: An International Journal, vol. 32 no. 3
Type: Research Article
DOI: https://doi.org/10.1108/01439910510593965
ISSN: 0143-991X

Keywords

  • Sensors
  • Robotics
  • Surgery
  • Materials handling

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Article
Publication date: 21 September 2015

A new tactile array sensor for viscoelastic tissues with time-dependent behavior

Alireza Hassanbeiglou, Masoud Kalantari, Elaheh Mozaffari, Javad Dargahi and József Kövecses

The purpose of this paper is to introduce a new tactile array sensor into the medical field to enhance current robotic minimally invasive surgery (RMIS) procedures that…

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Abstract

Purpose

The purpose of this paper is to introduce a new tactile array sensor into the medical field to enhance current robotic minimally invasive surgery (RMIS) procedures that are still limited in scope and versatility. In this paper, a novel idea is proposed in which a tactile sensor array can measure rate of displacement in addition to force and displacement of any viscoelastic material during the course of a single touch. To verify this new array sensor, several experiments were conducted on a diversity of tissues from which it was concluded that this newly developed sensory offers definite and significant enhancements.

Design/methodology/approach

The proposed array sensor is capable of extracting force, displacement and displacement rate in the course of a single touch on tissues. Several experiments have been conducted on different tissues and the array sensor to verify the concept and to verify the output of the sensor.

Findings

It is shown that this new generation of sensors are required to distinguish the difference in hardness degrees of materials with viscoelastic behavior.

Originality/value

In this paper, a new generation of tactile sensors is proposed that is capable of measuring indentation time in addition to force and displacement. This idea is completely unique and has not been submitted to any conference or journal.

Details

Sensor Review, vol. 35 no. 4
Type: Research Article
DOI: https://doi.org/10.1108/SR-06-2014-656
ISSN: 0260-2288

Keywords

  • Tactile sensors
  • Tissue identification
  • Viscoelastic property

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