Robots working in unstructured environments and alongside people need to be able to sense contact information from both intentional and unintentional interactions. Soft and skin-like tactile sensors can provide a robot wit...
Being able to cover the entire body of a robot with soft tactile sensors has become an attractive concept in intelligent robotics. Soft, stretchable materials can conform around surfaces and also absorb impacts, which is benefi...
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages: 5411-5417, Montreal, Canada, May 2019, Hyosang Lee and Kyungseo Park contributed equally to this publication (inproceedings)
Hands-on demonstration (3 pages) presented at AsiaHaptics, Incheon, South Korea, November 2018 (misc)
Large-scale tactile sensing is important for household robots and human-robot interaction because contacts can occur all over a robot’s body surface. This paper presents a new fabric-based tactile sensor that is straightforward to manufacture and can cover a large area. The tactile sensor is made of conductive and non-conductive fabric layers, and the electrodes are stitched with conductive thread, so the resulting device is flexible and stretchable. The sensor utilizes internal array electrodes and a reconstruction method called electrical resistance tomography (ERT) to achieve a high spatial resolution with a small number of electrodes. The developed sensor shows that only 16 electrodes can accurately estimate single and multiple contacts over a square that measures 20 cm by 20 cm.
Our goal is to understand the principles of Perception, Action and Learning in autonomous systems that successfully interact with complex environments and to use this understanding to design future systems