Integrating discrete force cells into multi-modal artificial skin

Philipp Mittendorfer, Gordon Cheng

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

32 Scopus citations

Abstract

In this paper, we present a new version of our multi-modal artificial skin, building from hexagonal shaped, intelligent unit cells. Our focus lies on the design of a discrete normal force sensor cell and its integration next to existing sensors for pre-contact, vibration/motion and temperature. The new force cell is cheap and easy to manufacture, scalable in size and force range, and addresses common drawbacks like hysteresis, noise, robustness and bandwidth. We locally sample and pre-process signals at 2.5 kHz and transfer filtered data at 250 Hz, enabling signal to noise ratios above 50 dB. Our rigid unit cells are encapsulated into 3D printed elastomer molds - we now mix hard and soft materials in the epidermal skin layer, in order to support enhanced force sensing. We provide detailed experimental characterization of the new force sensing modality on a custom dynamic test bench.

Original languageEnglish
Title of host publication2012 12th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2012
Pages847-852
Number of pages6
DOIs
StatePublished - 2012
Event2012 12th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2012 - Osaka, Japan
Duration: 29 Nov 20121 Dec 2012

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference2012 12th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2012
Country/TerritoryJapan
CityOsaka
Period29/11/121/12/12

Fingerprint

Dive into the research topics of 'Integrating discrete force cells into multi-modal artificial skin'. Together they form a unique fingerprint.

Cite this