skip to main content
10.1145/3029798.3038417acmconferencesArticle/Chapter ViewAbstractPublication PageshriConference Proceedingsconference-collections
abstract

Durable and Repairable Soft Tactile Skin for Physical Human Robot Interaction

Published: 06 March 2017 Publication History

Abstract

To implement human-like tactile skin, its durability and maintenance are crucial issues in practical applications. In this paper, we introduce a durable and repairable soft tactile skin using highly deformable piezoresistive elastomer through the resistivity reconstruction method. Due to the particular electrode placement of the proposed method, the tactile sensor could ensure durability. Furthermore, the piezoresistive elastomer could be repaired from severe damage produced in the pressure sensing area of the tactile skin. This is possible since the sensing material is made of silicone elastomer which can be pasted to fill the pressure sensing damaged area. These characteristics can be used to implement practical soft tactile skin for robots.

References

[1]
Bauer, S. et al. 2014. 25th anniversary article: a soft future: from robots and sensor skin to energy harvesters. Advanced Materials. 26, 1 (2014), 149--162.
[2]
Dahiya, R.S. and Valle, M. 2012. Robotic tactile sensing: technologies and system. Springer Science & Business Media.
[3]
Hammock, M.L. et al. 2013. 25th Anniversary Article: The Evolution of Electronic Skin (E-Skin): A Brief History, Design Considerations, and Recent Progress. Advanced Materials. 25, 42 (2013), 5997--6038.
[4]
Holder, D.S. 2004. Electrical impedance tomography: methods, history and applications. CRC Press.
[5]
Lee, M.H. 2000. Tactile sensing: new directions, new challenges. The International Journal of Robotics Research. 19, 7 (2000), 636--643.
[6]
Loh, K.J. and Azhari, F. 2012. Recent advances in skin-inspired sensors enabled by nanotechnology. JOM. 64, 7 (2012), 793--801.
[7]
Schmitz, A. et al. 2011. Methods and technologies for the implementation of large-scale robot tactile sensors. IEEE Transactions on Robotics. 27, 3 (2011), 389--400.

Cited By

View all
  • (2024)Research on the Fabrication and Parameters of a Flexible Fiber Optic Pressure Sensor with High SensitivityPhotonics10.3390/photonics1110091911:10(919)Online publication date: 28-Sep-2024
  • (2023)ForceStickerProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/35807937:1(1-32)Online publication date: 28-Mar-2023
  • (2023)Predicting the Force Map of an ERT-Based Tactile Sensor Using Simulation and Deep NetworksIEEE Transactions on Automation Science and Engineering10.1109/TASE.2022.315618420:1(425-439)Online publication date: Jan-2023
  • Show More Cited By

Index Terms

  1. Durable and Repairable Soft Tactile Skin for Physical Human Robot Interaction

      Recommendations

      Comments

      Information & Contributors

      Information

      Published In

      cover image ACM Conferences
      HRI '17: Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction
      March 2017
      462 pages
      ISBN:9781450348850
      DOI:10.1145/3029798
      Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/Author.

      Sponsors

      Publisher

      Association for Computing Machinery

      New York, NY, United States

      Publication History

      Published: 06 March 2017

      Check for updates

      Author Tags

      1. durable and repairable tactile skin
      2. resistivity reconstruction

      Qualifiers

      • Abstract

      Funding Sources

      • National Research Foundation of Korea

      Conference

      HRI '17
      Sponsor:

      Acceptance Rates

      HRI '17 Paper Acceptance Rate 51 of 211 submissions, 24%;
      Overall Acceptance Rate 192 of 519 submissions, 37%

      Contributors

      Other Metrics

      Bibliometrics & Citations

      Bibliometrics

      Article Metrics

      • Downloads (Last 12 months)39
      • Downloads (Last 6 weeks)6
      Reflects downloads up to 18 Jan 2025

      Other Metrics

      Citations

      Cited By

      View all
      • (2024)Research on the Fabrication and Parameters of a Flexible Fiber Optic Pressure Sensor with High SensitivityPhotonics10.3390/photonics1110091911:10(919)Online publication date: 28-Sep-2024
      • (2023)ForceStickerProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/35807937:1(1-32)Online publication date: 28-Mar-2023
      • (2023)Predicting the Force Map of an ERT-Based Tactile Sensor Using Simulation and Deep NetworksIEEE Transactions on Automation Science and Engineering10.1109/TASE.2022.315618420:1(425-439)Online publication date: Jan-2023
      • (2023)Adaptive Current-Driven Tactile Perception Based on Electrical Impedance Tomography2023 2nd International Conference on Automation, Robotics and Computer Engineering (ICARCE)10.1109/ICARCE59252.2024.10492578(1-6)Online publication date: 14-Dec-2023
      • (2022)A biomimetic elastomeric robot skin using electrical impedance and acoustic tomography for tactile sensingScience Robotics10.1126/scirobotics.abm71877:67Online publication date: 29-Jun-2022
      • (2022)Neural-Gas Network-Based Optimal Design Method for ERT-Based Whole-Body Robotic SkinIEEE Transactions on Robotics10.1109/TRO.2022.318680638:6(3463-3478)Online publication date: Dec-2022
      • (2022)Touch Modality Identification With Tensorial Tactile Signals: A Kernel-Based ApproachIEEE Transactions on Automation Science and Engineering10.1109/TASE.2021.305525119:2(959-968)Online publication date: Apr-2022
      • (2022)A CCERT-Based Tactile Sensor With Bidirectional BufferIEEE Sensors Journal10.1109/JSEN.2022.320503422:20(19480-19489)Online publication date: 15-Oct-2022
      • (2020)A Vision-Based Soft Somatosensory System for Distributed Pressure and Temperature SensingIEEE Robotics and Automation Letters10.1109/LRA.2020.29746495:2(3323-3329)Online publication date: Apr-2020
      • (2020)Calibrating a Soft ERT-Based Tactile Sensor with a Multiphysics Model and Sim-to-real Transfer Learning2020 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA40945.2020.9196732(1632-1638)Online publication date: May-2020
      • Show More Cited By

      View Options

      Login options

      View options

      PDF

      View or Download as a PDF file.

      PDF

      eReader

      View online with eReader.

      eReader

      Media

      Figures

      Other

      Tables

      Share

      Share

      Share this Publication link

      Share on social media