BioIn-Tacto: A compliant multi-modal tactile sensing module for robotic tasks.
| Autor: | Alves de Oliveira TE; Department of Computer Science, Faculty of Science and Environmental Studies, Lakehead University, Canada., Prado da Fonseca V; Department of Computer Science, Faculty of Science, Memorial University of Newfoundland, Canada. |
|---|---|
| Jazyk: | angličtina |
| Zdroj: | HardwareX [HardwareX] 2023 Sep 29; Vol. 16, pp. e00478. Date of Electronic Publication: 2023 Sep 29 (Print Publication: 2023). |
| DOI: | 10.1016/j.ohx.2023.e00478 |
| Abstrakt: | We present the open-source design and fabrication of a compliant multimodal tactile sensing module. The sensing module design presented here enables robotic end-effectors to sense contact properties like pressure and vibration and estimate a quaternion that represents the deformation due to contact. We elaborated the module's compliant structure fabrication process to use only 3D printed molds and a vacuum chamber, making it accessible to a broad range of roboticists. The process also allows production batches of up to five modules and easy deployment to robotic hands. The repository associated contains packages that support the Robot Operating System (ROS) to perform data collection and visualization. All hardware Computer-Aided Design (CAD) files and software source codes have been released and can be easily assembled and modified. The sensing module proposed in this paper uses off-the-shelf Microelectromechanical (MEMs) barometers and Magnetic, Angular Rate and Gravity (MARG) systems. Those components may be replaced by alternatives depending on the sensor's availability, constraints related to the module's size, or robotic application without prejudice to sensor functionality. Competing Interests: The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper. (© 2023 The Author(s).) |
| Databáze: | MEDLINE |
| Externí odkaz: |
|