TY - GEN
T1 - Soft Sensing Skins for Arbitrary Objects
T2 - 2023 IEEE International Conference on Robotics and Automation, ICRA 2023
AU - Gross, Sonja
AU - Hidalgo-Carvajal, Diego
AU - Breimann, Silija
AU - Stein, Nicolai
AU - Ganguly, Amartya
AU - Naceri, Abdeldjallil
AU - Haddadin, Sami
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Tactile sensors are becoming more prevalent in numerous research domains, including robotics, human-robot interaction, and grasping. As the development of customized soft tactile skin for various applications continues to gain momentum, there is an increasing demand for the automation of design and manufacturing processes based on user specifications. Our work presents a partially automated framework for designing and customizing silicone-based skin-like sensors for objects of arbitrary shapes. We assess the performance of stretch and contact sensors featuring custom patterns on complex surfaces, subjecting them to position control, grasping, and manipulation scenarios. Our study's findings demonstrate the feasibility of fabricating skin-like sensors effectively within a semi-automated framework, with potential applications in the aforementioned research domains.
AB - Tactile sensors are becoming more prevalent in numerous research domains, including robotics, human-robot interaction, and grasping. As the development of customized soft tactile skin for various applications continues to gain momentum, there is an increasing demand for the automation of design and manufacturing processes based on user specifications. Our work presents a partially automated framework for designing and customizing silicone-based skin-like sensors for objects of arbitrary shapes. We assess the performance of stretch and contact sensors featuring custom patterns on complex surfaces, subjecting them to position control, grasping, and manipulation scenarios. Our study's findings demonstrate the feasibility of fabricating skin-like sensors effectively within a semi-automated framework, with potential applications in the aforementioned research domains.
UR - http://www.scopus.com/inward/record.url?scp=85168683250&partnerID=8YFLogxK
U2 - 10.1109/ICRA48891.2023.10161344
DO - 10.1109/ICRA48891.2023.10161344
M3 - Conference contribution
AN - SCOPUS:85168683250
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 12507
EP - 12513
BT - Proceedings - ICRA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 29 May 2023 through 2 June 2023
ER -