TY - GEN
T1 - Development of a Permanent Magnet Elastomer (PME) Infused Soft Robot Skin for Tactile Sensing
AU - Shembekar, Sahil
AU - Kamezaki, Mitsuhiro
AU - Zhang, Peizhi
AU - He, Zhuoyi
AU - Iwamoto, Yuhiro
AU - Ido, Yasushi
AU - Sakamoto, Hiroyuki
AU - Sugano, Shigeki
N1 - Funding Information:
*This work was supported by the New Energy and Industrial Technology Development Organization (NEDO), JSPS KAKENHI Grant No. 25220005, and the Research Institute for Science and Engineering, Waseda University S. Shembekar, P. Zhang, Z. He, and S. Sugano are with the Department of Modern Mechanical Engineering, Graduate School of Creative Science and Engineering, Waseda University, Tokyo, Japan. M. Kamezaki is with the Research Institute for Science and Engineering (RISE), Waseda University, Tokyo, Japan. Y. Iwamoto and Y. Ido are with the Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Aichi, Japan. H. Sakamoto is with Nippon Paint Holdings Corp, Ltd, Tokyo, Japan Corresponding author e-mail: sahilshembekar@akane.waseda.jp.
Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - The skin is an important organ which enables humans to interact with the unstructured environment around. It is perfectly soft and covers the entire body providing immediate feedback even when that part is not directly in the field of vision. With the human skin as an inspiration, in this paper, we develop a novel completely soft robot skin for tactile sensing. The skin utilizes a new type of material called as Permanent Magnet Elastomer (PME) to replace the traditionally used hard permanent magnet for hall effect based tactile sensors. PME is formed by mixing Neodymium particles in a polymer base and using strong magnetization (up to 6 T) for anisotropy and to achieve strong and complete magnetization. The 6-axis soft PME is a perfect replacement for powerful hard magnets. We also do a thorough analysis of this material by infusing it in different types of silicone and as a result the most suitable combinations are selected. Performance tests show that the sensor can detect minute forces like 0.1 N. Moreover, the hysteresis test is carried out and the hysteresis error for our skin is found to be only 1.402%. An overloading test is also performed by loading the skin up to 64 N to check the robustness. In conclusion, the skin can produce reliable Triaxial force measurements and we present two models of it for smaller and large force range measurements respectively.
AB - The skin is an important organ which enables humans to interact with the unstructured environment around. It is perfectly soft and covers the entire body providing immediate feedback even when that part is not directly in the field of vision. With the human skin as an inspiration, in this paper, we develop a novel completely soft robot skin for tactile sensing. The skin utilizes a new type of material called as Permanent Magnet Elastomer (PME) to replace the traditionally used hard permanent magnet for hall effect based tactile sensors. PME is formed by mixing Neodymium particles in a polymer base and using strong magnetization (up to 6 T) for anisotropy and to achieve strong and complete magnetization. The 6-axis soft PME is a perfect replacement for powerful hard magnets. We also do a thorough analysis of this material by infusing it in different types of silicone and as a result the most suitable combinations are selected. Performance tests show that the sensor can detect minute forces like 0.1 N. Moreover, the hysteresis test is carried out and the hysteresis error for our skin is found to be only 1.402%. An overloading test is also performed by loading the skin up to 64 N to check the robustness. In conclusion, the skin can produce reliable Triaxial force measurements and we present two models of it for smaller and large force range measurements respectively.
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U2 - 10.1109/IROS51168.2021.9636817
DO - 10.1109/IROS51168.2021.9636817
M3 - Conference contribution
AN - SCOPUS:85124354573
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 6039
EP - 6046
BT - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Y2 - 27 September 2021 through 1 October 2021
ER -