Rapid Manufacturing of Mechanoreceptive Skins for Slip Detection in Robotic Grasping. Issue 1 (11th November 2016)

• Record Type: Journal Article
• Authors: Charalambides, Alexi; Bergbreiter, Sarah
• Is Part Of: Advanced materials technologies. Volume 2:Issue 1(2017)
• Page Start: n/a
• Page End: n/a
• Publication Date: 2016-11-11
• Subjects: 3‐axis tactile sensing -- multilength‐scale CNC milling -- carbon nanotubes -- polydimethylsiloxane -- robotic grasping; Materials science -- Periodicals; Technological innovations -- Periodicals; Materials science; Technological innovations; Periodicals; 620.1105
• DOI: 10.1002/admt.201600188
• Languages: English
• ISSNs: 2365-709X

Abstract

Abstract : A simple and rapid method to manufacture all‐elastomer robot skins with normal and shear force sensing is presented. The milling‐based approach creates reusable molds with microscale features over a large area, and the tactile sensors can operate via contact resistance or capacitance. A contact resistance sensor is incorporated into a 1 degree‐of‐freedom robotic gripper for closed‐loop slip detection.