Towards high-density barometer-based tactile sensor arrays

Kõiva R, Schwank T, Haschke R, Ritter H (In Press)
In: Workshop on New Advances in Tactile Sensation, Perception, and Learning in Robotics: Emerging Materials and Technologies for Manipulation (RoboTac 2019).

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Abstract / Bemerkung
MEMS-based barometers have been successfully used to implement tactile sensor arrays. However, aiming for high spatial resolution, interesting in robotics e.g., for corner, surface or shape detection, they suffer from significant signal hysteresis and drift. The present paper introduces a new technique to overcome these limitations, especially when implementing digital barometers with very small package dimensions. The evaluation reveals that our method results in a force sensing tactile cell with superior temperature stability, high sensitivity, remarkably low hysteresis and almost perfect linearity. We show that using the new technique, we can create high density tactile sensors with integrated signal digitization and performance close to that of a strain-gauge. In addition, we present our late-breaking work on a high spatial resolution, barometer-based tactile sensor matrix using our enhanced sensor cells with an inter-cell spacing of just 2.2 mm, resulting in over 20 tactile cells per cm².
Stichworte
tactile sensors; barometer based tactile sensing; high-density tactile arrays
Erscheinungsjahr
2019
Titel des Konferenzbandes
Workshop on New Advances in Tactile Sensation, Perception, and Learning in Robotics: Emerging Materials and Technologies for Manipulation (RoboTac 2019)
Konferenz
International Conference on Intelligent Robots and Systems (IROS)
Konferenzort
Macau, China
Konferenzdatum
2019-10-04 – 2019-10-04
Page URI
https://pub.uni-bielefeld.de/record/2937566

Zitieren

Kõiva R, Schwank T, Haschke R, Ritter H. Towards high-density barometer-based tactile sensor arrays. In: Workshop on New Advances in Tactile Sensation, Perception, and Learning in Robotics: Emerging Materials and Technologies for Manipulation (RoboTac 2019). In Press.
Kõiva, R., Schwank, T., Haschke, R., & Ritter, H. (In Press). Towards high-density barometer-based tactile sensor arrays. Workshop on New Advances in Tactile Sensation, Perception, and Learning in Robotics: Emerging Materials and Technologies for Manipulation (RoboTac 2019)
Kõiva, R., Schwank, T., Haschke, R., and Ritter, H. (In Press). “Towards high-density barometer-based tactile sensor arrays” in Workshop on New Advances in Tactile Sensation, Perception, and Learning in Robotics: Emerging Materials and Technologies for Manipulation (RoboTac 2019).
Kõiva, R., et al., In Press. Towards high-density barometer-based tactile sensor arrays. In Workshop on New Advances in Tactile Sensation, Perception, and Learning in Robotics: Emerging Materials and Technologies for Manipulation (RoboTac 2019).
R. Kõiva, et al., “Towards high-density barometer-based tactile sensor arrays”, Workshop on New Advances in Tactile Sensation, Perception, and Learning in Robotics: Emerging Materials and Technologies for Manipulation (RoboTac 2019), In Press.
Kõiva, R., Schwank, T., Haschke, R., Ritter, H.: Towards high-density barometer-based tactile sensor arrays. Workshop on New Advances in Tactile Sensation, Perception, and Learning in Robotics: Emerging Materials and Technologies for Manipulation (RoboTac 2019). (In Press).
Kõiva, Risto, Schwank, Tobias, Haschke, Robert, and Ritter, Helge. “Towards high-density barometer-based tactile sensor arrays”. Workshop on New Advances in Tactile Sensation, Perception, and Learning in Robotics: Emerging Materials and Technologies for Manipulation (RoboTac 2019). In Press.

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