Soft Areal Tactile Sensor Using Tomography Algorithm

Yo Kato; Tomonori Hayakawa; Toshiharu Mukai

doi:10.20965/jrm.2008.p0628

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JRM Vol.20 No.4 pp. 628-633

doi: 10.20965/jrm.2008.p0628

(2008)

Paper:

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Soft Areal Tactile Sensor Using Tomography Algorithm

Yo Kato^*, Tomonori Hayakawa^**, and Toshiharu Mukai^*

^*Bio-mimetic Control Research Center, RIKEN, 2271-130 Anagahora, Shimoshidami, Moriyama-ku, Nagoya 463-0003, Japan

^**Tokai Rubber Industries Ltd.

Received:

September 28, 2007

Accepted:

January 24, 2008

Published:

August 20, 2008

Keywords:

tactile sensor, inverse problem, pressure sensitive conductive rubber

Abstract

Using inverse problem analysis, we designed a soft areal tactile sensor with pressure-sensitive conductive rubber that does not need complex central wiring because we estimate conductivity change, i.e., pressure on the sensor, in the center based on electrical impedance tomography (EIT), i.e., a type of inverse problem analysis. We discuss results demonstrating the sensor's effectiveness.

Cite this article as:

Y. Kato, T. Hayakawa, and T. Mukai, “Soft Areal Tactile Sensor Using Tomography Algorithm,” J. Robot. Mechatron., Vol.20 No.4, pp. 628-633, 2008.

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References

[1] R. Tajima, S. Kagami, M. Inaba, and H. Inoue, “Development of soft and distributed tactile sensors and the application to a humanoid robot,” Advanced Robotics, Vol.16, No.4, pp. 381-397, 2002.
[2] T. Kanda, H. Ishiguro, T. Ono, M. Imai, and R. Nakatsu, “Development and evaluation of an Interactive Humanoid Robot “Robovie”,” ICRA2002, pp. 4166-4173, 2002.
[3] H. Shinoda and H. Oasa, “Wireless Tactile Sensing Element Using Stress-Sensitive Resonator,” IEEE/ASME Trans. on Mechatronics, Vol.5, No.3, pp. 258-265, 2000.
[4] Y. Ohmura, Y. Kuniyoshi, and A. Nagakubo, “Conformable and Scalable Tactile Sensor Skin for Curved Surfaces,” Proc. ICRA2006, 2006.
[5] S. D. Holder, “Electrical Impedance Tomography:Methods,History and Application,” Inst. Of Physics Pub. Inc., 2005.
[6] A. Nagakubo and Y. Kuniyoshi, “A Tactile Sensor based on Inverse Problem Theory: The Principle,” The 24th Annual Conference of the Robotics Society of Japan, 1C31, 2006.
[7] H. Alirezaei, A. Nagakubo, and Y. Kuniyoshi, “A Tactile Sensor based on Inverse Problem Theory: Basic Experiments,” The 24th Annual Conference of the Robotics Society of Japan, 1C32, 2006.
[8] C. J. Kotre, “A sensitivity coefficient method for the reconstruction of electrical impedance tomograms,” Clinical physics and physiological measurement, Vol.10, pp. 275-281, 1989.
[9] C. L. Lawson and R. J. Hanson, “Solving Least-Squares Problems,” Prentice-Hall, Chapter 23, 1974.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] R. Tajima, S. Kagami, M. Inaba, and H. Inoue, “Development of soft and distributed tactile sensors and the application to a humanoid robot,” Advanced Robotics, Vol.16, No.4, pp. 381-397, 2002.

[2] [2] T. Kanda, H. Ishiguro, T. Ono, M. Imai, and R. Nakatsu, “Development and evaluation of an Interactive Humanoid Robot “Robovie”,” ICRA2002, pp. 4166-4173, 2002.

[3] [3] H. Shinoda and H. Oasa, “Wireless Tactile Sensing Element Using Stress-Sensitive Resonator,” IEEE/ASME Trans. on Mechatronics, Vol.5, No.3, pp. 258-265, 2000.

[4] [4] Y. Ohmura, Y. Kuniyoshi, and A. Nagakubo, “Conformable and Scalable Tactile Sensor Skin for Curved Surfaces,” Proc. ICRA2006, 2006.

[5] [5] S. D. Holder, “Electrical Impedance Tomography:Methods,History and Application,” Inst. Of Physics Pub. Inc., 2005.

[6] [6] A. Nagakubo and Y. Kuniyoshi, “A Tactile Sensor based on Inverse Problem Theory: The Principle,” The 24th Annual Conference of the Robotics Society of Japan, 1C31, 2006.

[7] [7] H. Alirezaei, A. Nagakubo, and Y. Kuniyoshi, “A Tactile Sensor based on Inverse Problem Theory: Basic Experiments,” The 24th Annual Conference of the Robotics Society of Japan, 1C32, 2006.

[8] [8] C. J. Kotre, “A sensitivity coefficient method for the reconstruction of electrical impedance tomograms,” Clinical physics and physiological measurement, Vol.10, pp. 275-281, 1989.

[9] [9] C. L. Lawson and R. J. Hanson, “Solving Least-Squares Problems,” Prentice-Hall, Chapter 23, 1974.

Soft Areal Tactile Sensor Using Tomography Algorithm

Yo Kato*, Tomonori Hayakawa**, and Toshiharu Mukai*

Yo Kato^*, Tomonori Hayakawa^**, and Toshiharu Mukai^*