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

doi:10.1109/COASE.2017.8256308

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

School of Medicine

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

12 Scopus citations

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 language	English (US)
Title of host publication	2017 13th IEEE Conference on Automation Science and Engineering, CASE 2017
Publisher	IEEE Computer Society
Pages	1451-1456
Number of pages	6
ISBN (Electronic)	9781509067800
DOIs	https://doi.org/10.1109/COASE.2017.8256308
State	Published - Jul 1 2017
Event	13th IEEE Conference on Automation Science and Engineering, CASE 2017 - Xi'an, China Duration: Aug 20 2017 → Aug 23 2017

Publication series

Name	IEEE International Conference on Automation Science and Engineering
Volume	2017-August
ISSN (Print)	2161-8070
ISSN (Electronic)	2161-8089

Other

Other	13th IEEE Conference on Automation Science and Engineering, CASE 2017
Country/Territory	China
City	Xi'an
Period	8/20/17 → 8/23/17

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

Access to Document

10.1109/COASE.2017.8256308

Cite this

Ponraj, G., Kirthika, S. K., Thakor, N. V., Yeow, C. H., Kukreja, S. L., & Ren, H. (2017). 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 (pp. 1451-1456). (IEEE International Conference on Automation Science and Engineering; Vol. 2017-August). 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. et al.
2017 13th IEEE Conference on Automation Science and Engineering, CASE 2017. IEEE Computer Society, 2017. p. 1451-1456 (IEEE International Conference on Automation Science and Engineering; Vol. 2017-August).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ponraj, G, Kirthika, SK, Thakor, NV, Yeow, CH, Kukreja, SL & Ren, H 2017, 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. IEEE International Conference on Automation Science and Engineering, 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. IEEE Computer Society. 2017. p. 1451-1456. (IEEE International Conference on Automation Science and Engineering). doi: 10.1109/COASE.2017.8256308

@inproceedings{a17dd0f364b14e538338efe94a59cd5e,

title = "Development of flexible fabric based tactile sensor for closed loop control of soft robotic actuator",

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.",

keywords = "Closed loop control, Fabric force sensor, Piezoresistive sensor, Soft robotic finger, Tactile feedback",

author = "Godwin Ponraj and Kirthika, {Senthil Kumar} and Thakor, {Nitish V.} and Yeow, {Chen Hua} and Kukreja, {Sunil L.} and Hongliang Ren",

note = "Funding Information: This work is supported by the Singapore Academic Research Fund under Grant R-397-000-227-112, Office of Naval Research Global under grant ONRG-NICOP-N62909-15-1-2029 and NUSRI China Jiangsu Provincial Grant BK20150386 & BE2016077 awarded to Dr. Hongliang Ren. Funding Information: *Research supported by the Singapore Academic Research Fund under Grant R-397-000-227-112, Office of Naval Research Global under grant ONRG-NICOP-N62909-15-1-2029 and NUSRI China Jiangsu Provincial Grant BK20150386 & BE2016077 awarded to Dr. Hongliang Ren. Publisher Copyright: {\textcopyright} 2017 IEEE.; 13th IEEE Conference on Automation Science and Engineering, CASE 2017 ; Conference date: 20-08-2017 Through 23-08-2017",

year = "2017",

month = jul,

day = "1",

doi = "10.1109/COASE.2017.8256308",

language = "English (US)",

series = "IEEE International Conference on Automation Science and Engineering",

publisher = "IEEE Computer Society",

pages = "1451--1456",

booktitle = "2017 13th IEEE Conference on Automation Science and Engineering, CASE 2017",

}

TY - GEN

T1 - Development of flexible fabric based tactile sensor for closed loop control of soft robotic actuator

AU - Ponraj, Godwin

AU - Kirthika, Senthil Kumar

AU - Thakor, Nitish V.

AU - Yeow, Chen Hua

AU - Kukreja, Sunil L.

AU - Ren, Hongliang

N1 - Funding Information: This work is supported by the Singapore Academic Research Fund under Grant R-397-000-227-112, Office of Naval Research Global under grant ONRG-NICOP-N62909-15-1-2029 and NUSRI China Jiangsu Provincial Grant BK20150386 & BE2016077 awarded to Dr. Hongliang Ren. Funding Information: *Research supported by the Singapore Academic Research Fund under Grant R-397-000-227-112, Office of Naval Research Global under grant ONRG-NICOP-N62909-15-1-2029 and NUSRI China Jiangsu Provincial Grant BK20150386 & BE2016077 awarded to Dr. Hongliang Ren. Publisher Copyright: © 2017 IEEE.

PY - 2017/7/1

Y1 - 2017/7/1

N2 - 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.

AB - 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.

KW - Closed loop control

KW - Fabric force sensor

KW - Piezoresistive sensor

KW - Soft robotic finger

KW - Tactile feedback

UR - http://www.scopus.com/inward/record.url?scp=85044954503&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85044954503&partnerID=8YFLogxK

U2 - 10.1109/COASE.2017.8256308

DO - 10.1109/COASE.2017.8256308

M3 - Conference contribution

AN - SCOPUS:85044954503

T3 - IEEE International Conference on Automation Science and Engineering

SP - 1451

EP - 1456

BT - 2017 13th IEEE Conference on Automation Science and Engineering, CASE 2017

PB - IEEE Computer Society

T2 - 13th IEEE Conference on Automation Science and Engineering, CASE 2017

Y2 - 20 August 2017 through 23 August 2017

ER -

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

Abstract

Publication series

Other

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this