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New Flexible Tactile Sensor Based on Electrical Impedance Tomography.

Haibin Wu1, Bingying Zheng1, Haomiao Wang1

  • 1School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116, China.

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|February 25, 2022
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Summary

This study introduces a novel double sensitive layer tactile sensor for secure human-robot interaction. Using Electrical Impedance Tomography (EIT), it accurately detects contact position and force, enabling advanced interaction capabilities.

Keywords:
conductivityelectrical impedance tomographyhuman–robot interactionposition and force detectiontactile sensor

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Area of Science:

  • Robotics
  • Sensor Technology
  • Human-Computer Interaction

Background:

  • Secure human-computer interaction requires reliable external information acquisition.
  • Existing tactile sensors face challenges in accurately detecting both position and force of multiple contact points.

Purpose of the Study:

  • To propose and evaluate a double sensitive layer structured tactile sensor.
  • To enable detection of one or more contact points and their associated positional and force information.
  • To enhance the security and capabilities of human-robot interaction.

Main Methods:

  • The sensor utilizes Electrical Impedance Tomography (EIT) to convert contact-induced conductivity changes into detectable signals.
  • Positional information processing is performed using the OpenCV toolkit.
  • Experimental analysis includes evaluating positional detection accuracy and force detection effectiveness, sensitivity, and contact area.

Main Results:

  • The developed sensor demonstrated effective detection of contact position and force.
  • Analysis of positional detection errors and accuracy was conducted.
  • Effectiveness, sensitivity, and contact area for force detection were successfully analyzed.
  • Multi-object pressure tests confirmed the sensor's performance.

Conclusions:

  • The proposed double sensitive layer tactile sensor accurately detects contact position and force.
  • The sensor shows significant promise for applications in human-robot interaction.
  • This technology enhances the safety and functionality of collaborative robots.