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Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping

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Data-driven Shape Sensing of Continuum Dexterous Manipulators Using Embedded Capacitive Sensor.

Qihang Li¹, Wenpeng Wang¹, Joshua Liu¹

¹Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.

Proceedings of IEEE Sensors. IEEE International Conference on Sensors

|April 5, 2024

Summary

This summary is machine-generated.

We developed inexpensive embedded capacitive sensors (ECS) for Continuum Dexterous Manipulators (CDMs). These sensors offer a cost-effective alternative to Fiber Bragg Grating (FBG) sensors for shape sensing applications.

Keywords:

capacitive sensing continuum dexterous manipulators shape estimation

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Area of Science:

Robotics
Sensor Technology
Embedded Systems

Background:

Continuum Dexterous Manipulators (CDMs) require accurate shape sensing for effective control.
Existing Fiber Bragg Grating (FBG) sensors are costly and sensitive to temperature variations.
There is a need for low-cost, robust shape sensing solutions for CDMs.

Purpose of the Study:

To propose and evaluate a novel, inexpensive embedded capacitive sensor (ECS) for shape sensing in CDMs.
To address limitations of current FBG sensors, focusing on cost and temperature sensitivity.
To demonstrate the feasibility of ECS for real-time shape feedback and control.

Main Methods:

Development of an inexpensive embedded capacitive sensor (ECS) prototype.
Calibration of ECS using a vision-based system and a recurrent neural network (RNN).
Evaluation on a 3D-printed, cable-driven CDM prototype with multiple markers.

Main Results:

The ECS system achieved a 6.6% tip position error, normalized to the CDM's length.
The calibrated ECS data accurately reflected the manipulator's shape.
Successful computation of tip angle and position using data from three ECSs.

Conclusions:

Embedded capacitive sensors (ECS) show early feasibility for shape sensing in CDMs.
ECS offers a promising, cost-effective alternative to FBG sensors.
Further improvements can enhance ECS performance for advanced CDM applications.