Integrated proximity, contact and force sensing using elastomer-embedded commodity proximity sensors
Abstract
Here, we describe a combined proximity, contact and force (PCF) sensor based on a commodity infrared distance sensor embedded in a transparent elastomer with applications in robotic manipulation. Prior to contact, the sensor works as a distance sensor, whereas after contact the elastomer magnifies the near field of the proximity sensors letting the sensor interpret the indentation on elastomer as force. Contact occurs at the transition of proximity and force. We describe in detail the sensor design, its principle of operation and experimentally characterize the design parameters including polymer thickness, its mixing ratio, and emitter current of the infrared sensor. We also show that the sensor response has an inflection point at contact that is independent of an object’s surface properties, making it a robust detector for contact events. We finally demonstrate a series of use cases for the proposed PCF sensor, including (1) improving pre-grasp alignment, (2) determining contact event with objects, (3) obtaining simple 3D point cloud models of objects using both proximity and contact, and (4) registering self-generated point clouds to those from a RGB-D camera using a Baxter robot and Kinova Jaco arm.
- Authors:
-
- Univ. of Colorado, Boulder, CO (United States)
- Publication Date:
- Research Org.:
- Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
- Sponsoring Org.:
- USDOE National Nuclear Security Administration (NNSA)
- OSTI Identifier:
- 1478224
- Report Number(s):
- SAND-2017-1719J
Journal ID: ISSN 0929-5593; 654186
- Grant/Contract Number:
- AC04-94AL85000
- Resource Type:
- Journal Article: Accepted Manuscript
- Journal Name:
- Autonomous Robots
- Additional Journal Information:
- Journal Volume: 42; Journal Issue: 7; Journal ID: ISSN 0929-5593
- Publisher:
- Springer
- Country of Publication:
- United States
- Language:
- English
- Subject:
- 42 ENGINEERING; Tactile sensing; Robotic grasping; Manipulation; PCF-sensor
Citation Formats
Patel, Radhen, Cox, Rebecca, and Correll, Nikolaus. Integrated proximity, contact and force sensing using elastomer-embedded commodity proximity sensors. United States: N. p., 2018.
Web. doi:10.1007/s10514-018-9751-4.
Patel, Radhen, Cox, Rebecca, & Correll, Nikolaus. Integrated proximity, contact and force sensing using elastomer-embedded commodity proximity sensors. United States. https://doi.org/10.1007/s10514-018-9751-4
Patel, Radhen, Cox, Rebecca, and Correll, Nikolaus. 2018.
"Integrated proximity, contact and force sensing using elastomer-embedded commodity proximity sensors". United States. https://doi.org/10.1007/s10514-018-9751-4. https://www.osti.gov/servlets/purl/1478224.
@article{osti_1478224,
title = {Integrated proximity, contact and force sensing using elastomer-embedded commodity proximity sensors},
author = {Patel, Radhen and Cox, Rebecca and Correll, Nikolaus},
abstractNote = {Here, we describe a combined proximity, contact and force (PCF) sensor based on a commodity infrared distance sensor embedded in a transparent elastomer with applications in robotic manipulation. Prior to contact, the sensor works as a distance sensor, whereas after contact the elastomer magnifies the near field of the proximity sensors letting the sensor interpret the indentation on elastomer as force. Contact occurs at the transition of proximity and force. We describe in detail the sensor design, its principle of operation and experimentally characterize the design parameters including polymer thickness, its mixing ratio, and emitter current of the infrared sensor. We also show that the sensor response has an inflection point at contact that is independent of an object’s surface properties, making it a robust detector for contact events. We finally demonstrate a series of use cases for the proposed PCF sensor, including (1) improving pre-grasp alignment, (2) determining contact event with objects, (3) obtaining simple 3D point cloud models of objects using both proximity and contact, and (4) registering self-generated point clouds to those from a RGB-D camera using a Baxter robot and Kinova Jaco arm.},
doi = {10.1007/s10514-018-9751-4},
url = {https://www.osti.gov/biblio/1478224},
journal = {Autonomous Robots},
issn = {0929-5593},
number = 7,
volume = 42,
place = {United States},
year = {Sat Apr 21 00:00:00 EDT 2018},
month = {Sat Apr 21 00:00:00 EDT 2018}
}
Web of Science
Works referenced in this record:
Humanoid Multimodal Tactile-Sensing Modules
journal, June 2011
- Mittendorfer, P.; Cheng, G.
- IEEE Transactions on Robotics, Vol. 27, Issue 3
Characterization of a silicon-based shear-force sensor on human subjects
journal, November 2002
- Lin Wang, ; Beebe, D. J.
- IEEE Transactions on Biomedical Engineering, Vol. 49, Issue 11
A fuzzy logic controller for the application of skin pressure
conference, January 2004
- Lancaster, S. S.
- IEEE Annual Meeting of the Fuzzy Information, 2004. Processing NAFIPS '04.
Conformable and scalable tactile sensor skin for curved surfaces
conference, January 2006
- Ohmura, Y.; Kuniyoshi, Y.; Nagakubo, A.
- Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
Fiber optically sensorized multi-fingered robotic hand
conference, September 2015
- Leo Jiang, ; Low, Kevin; Costa, Joey
- 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Simultaneous localization, mapping, and manipulation for unsupervised object discovery
conference, May 2015
- Ma, Lu; Ghafarianzadeh, Mahsa; Coleman, David
- 2015 IEEE International Conference on Robotics and Automation (ICRA)
A new fabrication method for all-PDMS waveguides
journal, December 2013
- Cai, Ziliang; Qiu, Weiping; Shao, Guocheng
- Sensors and Actuators A: Physical, Vol. 204
Reactive grasping using optical proximity sensors
conference, May 2009
- Hsiao, Kaijen; Nangeroni, Paul; Huber, Manfred
- 2009 IEEE International Conference on Robotics and Automation (ICRA)
Improving robot manipulation through fingertip perception
conference, October 2012
- Maldonado, Alexis; Alvarez, Humberto; Beetz, Michael
- 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)
Tactile Sensing—From Humans to Humanoids
journal, February 2010
- Dahiya, R. S.; Metta, G.; Valle, M.
- IEEE Transactions on Robotics, Vol. 26, Issue 1
Using gripper mounted infrared proximity sensors for robot feedback control
conference, January 1985
- Balek, D.; Kelley, R.
- Proceedings. 1985 IEEE International Conference on Robotics and Automation
Learning to pick up objects through active exploration
conference, August 2015
- Oberlin, John; Tellex, Stefanie
- 2015 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob)
A soft pneumatic actuator that can sense grasp and touch
conference, September 2015
- Farrow, Nicholas; Correll, Nikolaus
- 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Raman, mid-infrared, near-infrared and ultraviolet–visible spectroscopy of PDMS silicone rubber for characterization of polymer optical waveguide materials
journal, July 2010
- Cai, Dengke; Neyer, Andreas; Kuckuk, Rüdiger
- Journal of Molecular Structure, Vol. 976, Issue 1-3
The Feel of MEMS Barometers: Inexpensive and Easily Customized Tactile Array Sensors
journal, September 2014
- Tenzer, Yaroslav; Jentoft, Leif P.; Howe, Robert D.
- IEEE Robotics & Automation Magazine, Vol. 21, Issue 3
Integrated force and distance sensing using elastomer-embedded commodity proximity sensors
conference, January 2016
- Patel, Radhen; Correll, Nikolaus
- Robotics: Science and Systems 2016, Robotics: Science and Systems XII
Human-Inspired Robotic Grasp Control With Tactile Sensing
journal, December 2011
- Romano, Joseph M.; Hsiao, Kaijen; Niemeyer, Günter
- IEEE Transactions on Robotics, Vol. 27, Issue 6
Functionalized textiles for interactive soft robotics
conference, May 2017
- Farrow, Nicholas; McIntire, Lauren; Correll, Nikolaus
- 2017 IEEE International Conference on Robotics and Automation (ICRA)
Normal and Shear Force Measurement Using a Flexible Polymer Tactile Sensor With Embedded Multiple Capacitors
journal, August 2008
- Hyung-Kew Lee,
- Journal of Microelectromechanical Systems, Vol. 17, Issue 4
Texture recognition and localization in amorphous robotic skin
journal, September 2015
- Hughes, Dana; Correll, Nikolaus
- Bioinspiration & Biomimetics, Vol. 10, Issue 5
Using infrared sensors for distance measurement in mobile robots
journal, September 2002
- Benet, G.; Blanes, F.; Simó, J. E.
- Robotics and Autonomous Systems, Vol. 40, Issue 4
Soft Fiber Optic Sensors for Precision Measurement of Shear Stress and Pressure
journal, May 2013
- Zhang, Zhi Feng; Tao, Xiao Ming; Zhang, Hua Peng
- IEEE Sensors Journal, Vol. 13, Issue 5
A manipulator plays Jenga
journal, September 2008
- Kroger, Torsten; Finkemeyer, Bernd; Winkelbach, Simon
- IEEE Robotics & Automation Magazine, Vol. 15, Issue 3
Extrinsic dexterity: In-hand manipulation with external forces
conference, May 2014
- Dafle, Nikhil Chavan; Rodriguez, Alberto; Paolini, Robert
- 2014 IEEE International Conference on Robotics and Automation (ICRA)
Contact sensing and grasping performance of compliant hands
journal, August 2009
- Dollar, Aaron M.; Jentoft, Leif P.; Gao, Jason H.
- Autonomous Robots, Vol. 28, Issue 1
Force and proximity fingertip sensor to enhance grasping perception
conference, September 2015
- Konstantinova, Jelizaveta; Stilli, Agostino; Althoefer, Kaspar
- 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Wearable motion capture suit with full-body tactile sensors
conference, May 2009
- Fujimori, Y.; Ohmura, Y.; Harada, T.
- 2009 IEEE International Conference on Robotics and Automation (ICRA)
A capacitive tactile sensor for shear and normal force measurements
journal, March 1992
- Zhu, F.; Spronck, J. W.
- Sensors and Actuators A: Physical, Vol. 31, Issue 1-3
Increased poly(dimethylsiloxane) stiffness improves viability and morphology of mouse fibroblast cells
journal, September 2010
- Park, Joong Yull; Yoo, Sung Ju; Lee, Eun-Joong
- BioChip Journal, Vol. 4, Issue 3
Simplified grasping and manipulation with dextrous robot hands
journal, December 1986
- Fearing, R.
- IEEE Journal on Robotics and Automation, Vol. 2, Issue 4
Tactile proximity sensors for robotic applications
conference, February 2013
- Goger, D.; Alagi, H.; Worn, H.
- 2013 IEEE International Conference on Industrial Technology (ICIT 2013), 2013 IEEE International Conference on Industrial Technology (ICIT)
Directions Toward Effective Utilization of Tactile Skin: A Review
journal, November 2013
- Dahiya, Ravinder S.; Mittendorfer, Philipp; Valle, Maurizio
- IEEE Sensors Journal, Vol. 13, Issue 11
Realizing whole-body tactile interactions with a self-organizing, multi-modal artificial skin on a humanoid robot
journal, January 2015
- Mittendorfer, P.; Yoshida, E.; Cheng, G.
- Advanced Robotics, Vol. 29, Issue 1
Data-Driven Grasp Synthesis—A Survey
journal, April 2014
- Bohg, Jeannette; Morales, Antonio; Asfour, Tamim
- IEEE Transactions on Robotics, Vol. 30, Issue 2
A surface micromachined microtactile sensor array
conference, January 1996
- Gray, B. L.; Fearing, R. S.
- Proceedings of IEEE International Conference on Robotics and Automation
Re-configurable fluid circuits by PDMS elastomer micromachining
conference, January 1999
- Armani, D.; Liu, C.; Aluru, N.
- Technical Digest. IEEE International MEMS 99 Conference. Twelfth IEEE International Conference on Micro Electro Mechanical Systems (Cat. No.99CH36291)
A Soft Strain Sensor Based on Ionic and Metal Liquids
journal, September 2013
- Chossat, Jean-Baptiste; Park, Yong-Lae; Wood, Robert J.
- IEEE Sensors Journal, Vol. 13, Issue 9
A Novel Type of Compliant, Underactuated Robotic Hand for Dexterous Grasping
conference, July 2014
- Deimel, Raphael; Brock, Oliver
- Robotics: Science and Systems 2014, Robotics: Science and Systems X
An LED-based Tactile Sensor for Multi-sensing over Large Areas
conference, October 2006
- Rossiter, J.; Mukai, T.
- 2006 5th IEEE Conference on Sensors
Simplified Grasping and Manipulation with Dextrous Robot Hands
conference, July 1984
- Fearing, R. S.
- 1984 American Control Conference
Works referencing / citing this record:
Soft robot perception using embedded soft sensors and recurrent neural networks
journal, January 2019
- Thuruthel, Thomas George; Shih, Benjamin; Laschi, Cecilia
- Science Robotics, Vol. 4, Issue 26
An Embedded, Multi-Modal Sensor System for Scalable Robotic and Prosthetic Hand Fingers
journal, December 2019
- Weiner, Pascal; Neef, Caterina; Shibata, Yoshihisa
- Sensors, Vol. 20, Issue 1
An Embedded, Multi-Modal Sensor System for Scalable Robotic and Prosthetic Hand Fingers
text, January 2020
- Weiner, Pascal; Neef, Caterina; Shibata, Yoshihisa
- Karlsruhe
An Embedded, Multi-Modal Sensor System for Scalable Robotic and Prosthetic Hand Fingers
text, January 2020
- Weiner, Pascal; Neef, Caterina; Shibata, Yoshihisa
- Karlsruhe