Experimental testbed for robot skin characterization and interaction control

Kyle R. Shook; Ahsan Habib; Woo Ho Lee; Dan O. Popa

doi:10.1117/12.2049956

Translator Disclaimer

4 June 2014 Experimental testbed for robot skin characterization and interaction control

Kyle R. Shook; Ahsan Habib; Woo Ho Lee; Dan O. Popa

Author Affiliations +

Proceedings Volume 9116, Next-Generation Robots and Systems; 911606 (2014) https://doi.org/10.1117/12.2049956
Event: SPIE Sensing Technology + Applications, 2014, Baltimore, Maryland, United States

Abstract

Future robot skin will consist of massive numbers of sensors embedded in flexible and compliant elastomer substrate. To test and characterize pressure-sensitive skin prototypes, we have built an experimental testbed capable of applying controlled loading profiles, using the data to create reduced-order models of skin sensors for simulation and control. Measurement data from a load applicator and embedded taxel is acquired using National Instruments real-time control technology. Reduced-order models were proposed to relate the load applied to robot skin to the load sensed by the embedded taxel. Experiments for soft skin material characterization and taxel characterization were also undertaken with the testbed to better understand their nonlinear behavior. With this setup current and future skin sensor designs undergoing a range of loading profiles can be tested and modeled.

Citation Download Citation

Kyle R. Shook, Ahsan Habib, Woo Ho Lee, and Dan O. Popa "Experimental testbed for robot skin characterization and interaction control", Proc. SPIE 9116, Next-Generation Robots and Systems, 911606 (4 June 2014); doi: 10.1117/12.2049956; https://doi.org/10.1117/12.2049956

ACCESS THE FULL ARTICLE

PERSONAL SIGN IN
Full access may be available with your subscription

Email or Username Forgot your username?

Password Forgot your password?

Show

Remember Email/Username on this computer

Remember Password

No SPIE account? Create an account
or Institutional Sign In via Shibboleth

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $14.40

Non-members: $18.00 ADD TO CART

Show All Keywords

Keywords/Phrases

Search In:

Publication Years