VibroTouch: Active Tactile Sensor for Contact Detection and Force Sensing via Vibrations.

ABSTRACT: Accurate and fast contact detection between a robot manipulator and objects is crucial for safe robot-object and human-robot interactions. Traditional collision detection techniques relied on force-torque sensors and Columb friction cone estimation. However, the strain gauges used in the conventional force sensors require low-noise and high-precision electronics to deliver the signal to the final user. The Signal-to-Noise Ratio (SNR) in these devices is still an issue in light contact detection. On the other hand, the Eccentric Rotating Mass (ERM) motors are very sensitive to subtle touch as their vibrating resonant state loses immediately. The vibration, in this case, plays a core role in triggering the tactile event. This project's primary goal is to use generated and received vibrations

SUBMITTER: Sandykbayeva D 

PROVIDER: S-EPMC9460586 | biostudies-literature | 2022 Aug

REPOSITORIES: biostudies-literature