TY - GEN
T1 - A tactile sensor for the fingertips of the humanoid robot iCub
AU - Schmitz, Alexander
AU - Maggiali, Marco
AU - Natale, Lorenzo
AU - Bonino, Bruno
AU - Metta, Giorgio
PY - 2010
Y1 - 2010
N2 - In order to successfully perform object manipulation, humanoid robots must be equipped with tactile sensors. However, the limited space that is available in robotic fingers imposes severe design constraints. In [1] we presented a small prototype fingertip which incorporates a capacitive pressure system. This paper shows an improved version, which has been integrated on the hand of the humanoid robot iCub. The fingertip is 14.5 mm long and 13 mm wide. The capacitive pressure sensor system has 12 sensitive zones and includes the electronics to send the 12 measurements over a serial bus with only 4 wires. Each synthetic fingertip is shaped approximately like a human fingertip. Furthermore, an integral part of the capacitive sensor is soft silicone foam, and therefore the fingertip is compliant. We describe the structure of the fingertip, their integration on the humanoid robot iCub and present test results to show the characteristics of the sensor.
AB - In order to successfully perform object manipulation, humanoid robots must be equipped with tactile sensors. However, the limited space that is available in robotic fingers imposes severe design constraints. In [1] we presented a small prototype fingertip which incorporates a capacitive pressure system. This paper shows an improved version, which has been integrated on the hand of the humanoid robot iCub. The fingertip is 14.5 mm long and 13 mm wide. The capacitive pressure sensor system has 12 sensitive zones and includes the electronics to send the 12 measurements over a serial bus with only 4 wires. Each synthetic fingertip is shaped approximately like a human fingertip. Furthermore, an integral part of the capacitive sensor is soft silicone foam, and therefore the fingertip is compliant. We describe the structure of the fingertip, their integration on the humanoid robot iCub and present test results to show the characteristics of the sensor.
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U2 - 10.1109/IROS.2010.5648838
DO - 10.1109/IROS.2010.5648838
M3 - Conference contribution
AN - SCOPUS:78651490709
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 2212
EP - 2217
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -