Development of flexible fabric based tactile sensor for closed loop control of soft robotic actuator

Godwin Ponraj, Senthil Kumar Kirthika, Nitish V Thakor, Chen Hua Yeow, Sunil L. Kukreja, Hongliang Ren

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The ability to sense and measure object properties based on touch is known as tactile sensing. The flexibility and dexterity of soft robots can be fully explored, only with efficient tactile feedback from the environment or the objects the robot interact with. This paper discusses about the development of a soft fabric based piezoresistive tactile sensor, the related calibration experiments and procedures. Fabric based sensors are flexible, stretchable and can confer to both hard and soft surfaces easily. The ability of the tactile sensor to enhance the efficiency of robotic activities is demonstrated in a simple cutting task. The robotic end effector used is a pneumatically controlled soft gripper. Experimental results show that the feedback from the tactile sensor developed is successfully used to detect the completion of the cutting task.

Original languageEnglish (US)
Title of host publication2017 13th IEEE Conference on Automation Science and Engineering, CASE 2017
PublisherIEEE Computer Society
Pages1451-1456
Number of pages6
Volume2017-August
ISBN (Electronic)9781509067800
DOIs
StatePublished - Jan 12 2018
Event13th IEEE Conference on Automation Science and Engineering, CASE 2017 - Xi'an, China
Duration: Aug 20 2017Aug 23 2017

Other

Other13th IEEE Conference on Automation Science and Engineering, CASE 2017
CountryChina
CityXi'an
Period8/20/178/23/17

Fingerprint

Robotics
Actuators
Sensors
Robots
Feedback
Grippers
End effectors
Calibration
Experiments

Keywords

  • Closed loop control
  • Fabric force sensor
  • Piezoresistive sensor
  • Soft robotic finger
  • Tactile feedback

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Ponraj, G., Kirthika, S. K., Thakor, N. V., Yeow, C. H., Kukreja, S. L., & Ren, H. (2018). Development of flexible fabric based tactile sensor for closed loop control of soft robotic actuator. In 2017 13th IEEE Conference on Automation Science and Engineering, CASE 2017 (Vol. 2017-August, pp. 1451-1456). IEEE Computer Society. https://doi.org/10.1109/COASE.2017.8256308

Development of flexible fabric based tactile sensor for closed loop control of soft robotic actuator. / Ponraj, Godwin; Kirthika, Senthil Kumar; Thakor, Nitish V; Yeow, Chen Hua; Kukreja, Sunil L.; Ren, Hongliang.

2017 13th IEEE Conference on Automation Science and Engineering, CASE 2017. Vol. 2017-August IEEE Computer Society, 2018. p. 1451-1456.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ponraj, G, Kirthika, SK, Thakor, NV, Yeow, CH, Kukreja, SL & Ren, H 2018, Development of flexible fabric based tactile sensor for closed loop control of soft robotic actuator. in 2017 13th IEEE Conference on Automation Science and Engineering, CASE 2017. vol. 2017-August, IEEE Computer Society, pp. 1451-1456, 13th IEEE Conference on Automation Science and Engineering, CASE 2017, Xi'an, China, 8/20/17. https://doi.org/10.1109/COASE.2017.8256308
Ponraj G, Kirthika SK, Thakor NV, Yeow CH, Kukreja SL, Ren H. Development of flexible fabric based tactile sensor for closed loop control of soft robotic actuator. In 2017 13th IEEE Conference on Automation Science and Engineering, CASE 2017. Vol. 2017-August. IEEE Computer Society. 2018. p. 1451-1456 https://doi.org/10.1109/COASE.2017.8256308
Ponraj, Godwin ; Kirthika, Senthil Kumar ; Thakor, Nitish V ; Yeow, Chen Hua ; Kukreja, Sunil L. ; Ren, Hongliang. / Development of flexible fabric based tactile sensor for closed loop control of soft robotic actuator. 2017 13th IEEE Conference on Automation Science and Engineering, CASE 2017. Vol. 2017-August IEEE Computer Society, 2018. pp. 1451-1456
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