A low-cost, high-performance, soft tri-axis tactile sensor based on eddy-current effect

Abstract

Tactile sensors are essential for robotic systems to interact safely and effectively with the external world. In particular, tri-axis tactile sensors are crucial for dexterous robotic manipulations by providing shear force for slip and contact angle detection. In this paper, we present a soft tri-axis tactile sensors using flexible coils and conductive films based on eddy-current effect. Prototypes were developed, calibrated and evaluated, which achieved a force measurement resolution of 0.3 mN in each axis, with a bandwidth up to 1 kHz. The presented sensor is low-cost, robust, durable, and easily customizable for a variety of robotic and healthcare applications.

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Item Type:	Proceedings Paper
Authors/Creators:	Wang, H Kow, J https://orcid.org/0000-0002-0496-2966 de Boer, G https://orcid.org/0000-0002-5647-1771 Jones, D Alazmani, A https://orcid.org/0000-0001-8983-173X Culmer, P https://orcid.org/0000-0003-2867-0420
Copyright, Publisher and Additional Information:	© 2017 IEEE. This is an author produced version of a paper published in the 2017 IEEE SENSORS Proceedings. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Uploaded in accordance with the publisher's self-archiving policy.
Keywords:	Tactile sensors, eddy-current effect, inductance, flexible coils, elastomer
Dates:	Published: 25 December 2017 Published (online): 25 December 2017 Accepted: 14 August 2017
Institution:	The University of Leeds
Academic Units:	The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Functional Surfaces (Leeds) The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Thermofluids, Surfaces & Interfaces (iETSI) (Leeds)
Funding Information:	Funder Grant number Leverhulme Trust RPG-2014-381
Depositing User:	Symplectic Publications
Date Deposited:	25 Apr 2018 10:54
Last Modified:	11 Feb 2019 12:46
Status:	Published
Publisher:	IEEE
Identification Number:	10.1109/ICSENS.2017.8234098
Open Archives Initiative ID (OAI ID):	oai:eprints.whiterose.ac.uk:129981

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A low-cost, high-performance, soft tri-axis tactile sensor based on eddy-current effect

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