A Biomimetic Fingerprint for Robotic Tactile Sensing

Oscar Alberto Juiña Quilachamin; Nicolás Navarro-Guerrero

doi:10.48550/arXiv.2307.00937

A Biomimetic Fingerprint for Robotic Tactile Sensing

Oscar Alberto Juiña Quilachamin, Nicolás Navarro-Guerrero

L3S Research Centre

University of Applied Sciences Karlsruhe (HKA)

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Abstract

Tactile sensors have been developed since the early’70s and have greatly improved, but there are still no widely adopted solutions. Various technologies, such as capacitive, piezoelectric, piezoresistive, optical, and magnetic, are used in haptic sensing. However, most sensors are not mechanically robust for many applications and cannot cope well with curved or sizeable surfaces. Aiming to address this problem, we present a 3D-printed fingerprint pattern to enhance the body-borne vibration signal for dynamic tactile feedback. The 3D-printed fingerprint patterns were designed and tested for an RH8D Adult size Robot Hand. The patterns significantly increased the signal’s power to over 11 times the baseline. A public haptic dataset including 52 objects of several materials was created using the best fingerprint pattern and material.

Original language	English
Title of host publication	Europe ISR 2023
Subtitle of host publication	International Symposium on Robotics, Proceedings
Publisher	VDE Verlag GmbH
Pages	112-118
Number of pages	7
ISBN (Electronic)	9783800761418
DOIs	https://doi.org/10.48550/arXiv.2307.00937
Publication status	Published - 2023
Event	56th International Symposium on Robotics, ISR Europe 2023 - Stuttgart, Germany Duration: 26 Sept 2023 → 27 Sept 2023

Conference

Conference	56th International Symposium on Robotics, ISR Europe 2023
Country/Territory	Germany
City	Stuttgart
Period	26 Sept 2023 → 27 Sept 2023

Keywords

3D-printed fingerprint
Body-Borne Vibrations
Dynamic tactile sensing
Robot perception
Tactile sensors

ASJC Scopus subject areas

Artificial Intelligence
Human-Computer Interaction
Software

Access to Document

10.48550/arXiv.2307.00937Licence: CC BY-SA 4.0

Cite this

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title = "A Biomimetic Fingerprint for Robotic Tactile Sensing",

abstract = "Tactile sensors have been developed since the early{\textquoteright}70s and have greatly improved, but there are still no widely adopted solutions. Various technologies, such as capacitive, piezoelectric, piezoresistive, optical, and magnetic, are used in haptic sensing. However, most sensors are not mechanically robust for many applications and cannot cope well with curved or sizeable surfaces. Aiming to address this problem, we present a 3D-printed fingerprint pattern to enhance the body-borne vibration signal for dynamic tactile feedback. The 3D-printed fingerprint patterns were designed and tested for an RH8D Adult size Robot Hand. The patterns significantly increased the signal{\textquoteright}s power to over 11 times the baseline. A public haptic dataset including 52 objects of several materials was created using the best fingerprint pattern and material.",

keywords = "3D-printed fingerprint, Body-Borne Vibrations, Dynamic tactile sensing, Robot perception, Tactile sensors",

author = "{Jui{\~n}a Quilachamin}, {Oscar Alberto} and Nicol{\'a}s Navarro-Guerrero",

note = "Publisher Copyright: {\textcopyright} VDE VERLAG GMBH Berlin Offenbach.; 56th International Symposium on Robotics, ISR Europe 2023 ; Conference date: 26-09-2023 Through 27-09-2023",

year = "2023",

doi = "10.48550/arXiv.2307.00937",

language = "English",

pages = "112--118",

booktitle = "Europe ISR 2023",

publisher = "VDE Verlag GmbH",

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}

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T1 - A Biomimetic Fingerprint for Robotic Tactile Sensing

AU - Juiña Quilachamin, Oscar Alberto

AU - Navarro-Guerrero, Nicolás

N1 - Publisher Copyright: © VDE VERLAG GMBH Berlin Offenbach.

PY - 2023

Y1 - 2023

N2 - Tactile sensors have been developed since the early’70s and have greatly improved, but there are still no widely adopted solutions. Various technologies, such as capacitive, piezoelectric, piezoresistive, optical, and magnetic, are used in haptic sensing. However, most sensors are not mechanically robust for many applications and cannot cope well with curved or sizeable surfaces. Aiming to address this problem, we present a 3D-printed fingerprint pattern to enhance the body-borne vibration signal for dynamic tactile feedback. The 3D-printed fingerprint patterns were designed and tested for an RH8D Adult size Robot Hand. The patterns significantly increased the signal’s power to over 11 times the baseline. A public haptic dataset including 52 objects of several materials was created using the best fingerprint pattern and material.

AB - Tactile sensors have been developed since the early’70s and have greatly improved, but there are still no widely adopted solutions. Various technologies, such as capacitive, piezoelectric, piezoresistive, optical, and magnetic, are used in haptic sensing. However, most sensors are not mechanically robust for many applications and cannot cope well with curved or sizeable surfaces. Aiming to address this problem, we present a 3D-printed fingerprint pattern to enhance the body-borne vibration signal for dynamic tactile feedback. The 3D-printed fingerprint patterns were designed and tested for an RH8D Adult size Robot Hand. The patterns significantly increased the signal’s power to over 11 times the baseline. A public haptic dataset including 52 objects of several materials was created using the best fingerprint pattern and material.

KW - 3D-printed fingerprint

KW - Body-Borne Vibrations

KW - Dynamic tactile sensing

KW - Robot perception

KW - Tactile sensors

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U2 - 10.48550/arXiv.2307.00937

DO - 10.48550/arXiv.2307.00937

M3 - Conference contribution

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EP - 118

BT - Europe ISR 2023

PB - VDE Verlag GmbH

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Y2 - 26 September 2023 through 27 September 2023

ER -

A Biomimetic Fingerprint for Robotic Tactile Sensing

Abstract

Conference

Keywords

ASJC Scopus subject areas

Access to Document

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