PhotoElasticFinger: Robot Tactile Fingertip Based on Photoelastic Effect
The sensor measures the force based on the PhotoElastic effect observed in the silicone matter. The polarized light within the silicone rubber is subjected to the phase-shift when the silicone is pressed. Force estimated is proportional to the light received by the camera. This paper has been published in Sensors as part of the Special Issue Advances in Bio-Inspired Skin-Like Sensor Technologies, 2022.
https://youtu.be/s9dM9OUDbQg Magnetic field-based tactile sensors
Fabrication – oriented direction that focuses on investigating methods of using of magnets and magnetic field sensors as tactile sensing devices. The use of the Hall-effect sensor that detectects the distance to the magnet attached onto a spring is described in IROS 2018 conference publication:
Magnetic Tactile Sensor.
Vibro-tactile slip, slide, texture detection
Deep Vibro-Tactile Slip Detection and Texture IdentificationThe state-of-the-art LSTM, FFN, CNN architectures were applied to detect slippage and identify various textures –
journal paper (Massalim et al, mdpi sensors, 2020).
Tactile Sensor for Contact Detection and Force Sensing via VibrationsThe main idea behind the project is the phenomenon of change in vibration propagation patterns depending on the grip properties. The sensor is used for detecting whether the contact has happened or not. This paper has been published in Sensors as part of the Special Issue Advances in Bio-Inspired Skin-Like Sensor Technologies, 2022.
Deep Vibro-Tactile Slip Detection and Texture IdentificationThe state-of-the-art LSTM, FFN, CNN architectures were applied to detect slippage and identify various textures –
journal paper (Massalim et al, mdpi sensors, 2020).
Deformable Object Recognition
Soft objects are increasing their attention in manipulation – oriented papers. We developed a pipeline to detect soft and rigid objects using a tactile sensing array – conference IEEE SII2019, Paris.
Granular Object Recognition
Soft objects can be crunchy inside. In this connection, we can detect various soft objects based on their not only softness but also mechanical vibrations. We applied machine learning methods to detect a foreign body in a soft object (
Syrymova et al, AIM2020, Boston).
Negative Stiffness Structure
Structures design – related research direction that investigates how artificial mezo-structures with negative stiffness properties can be used as active tactile surfaces.
Analytical modelling of a Negative Stiffness Honeycomb is described in
IOP Smart Materials and Structures paper.
https://youtu.be/ByPX0TAFekMLinear Negative Stiffness Honeycomb Actuator with Integrated Force SensingApplication of Negative Stiffness Structures in actuators is described in our AIM2020, Boston conference paper by
Galimzhanov et al.
Human-Robot Handover with Prior-to-Past Soft/Rigid Object Classification via Tactile Glove
Robot control design for HRI. This research direction investigates how Robot arms can be used as collaborators.
This work is done in collaboration with Matteo Rubagotti’s
RCLlab Augmented Reality and Haptic Teleoperation
This paper was submitted to IEEE TRO 2023 (initially it was submitted to IEEE RA-L in 2021)