Improvement of tactile capacitive sensors of the humanoid robot iCub's fingertips

A. Ascia; M. Biso; A. Ansaldo; A. Schmitz; D. Ricci; L. Natale; G. Metta; G. Sandini

doi:10.1109/ICSENS.2011.6127098

Improvement of tactile capacitive sensors of the humanoid robot iCub's fingertips

A. Ascia^*, M. Biso, A. Ansaldo, A. Schmitz, D. Ricci, L. Natale, G. Metta, G. Sandini

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

Humanoid robots use tactile fingertips to perform object manipulation. In this paper, an improved prototype of a tactile capacitive fingertip for the hands of the humanoid robot iCub is presented. In particular, a conductive silicone based material has been used to improve the characteristics of the capacitive sensor and an additional silicone foam layer has been also introduced in the sensor architecture to prevent behavior variation due to fingertip deterioration (e.g., caused by object manipulation). A characterization of the fingertip sensing behavior is presented. This work is funded by the European Commission as part of the project ICT-FP7-231500 RoboSKIN.

Original language	English
Title of host publication	IEEE Sensors 2011 Conference, SENSORS 2011
Pages	504-507
Number of pages	4
DOIs	https://doi.org/10.1109/ICSENS.2011.6127098
Publication status	Published - 2011
Externally published	Yes
Event	10th IEEE SENSORS Conference 2011, SENSORS 2011 - Limerick, Ireland Duration: 2011 Oct 28 → 2011 Oct 31

Publication series

Name	Proceedings of IEEE Sensors

Conference

Conference	10th IEEE SENSORS Conference 2011, SENSORS 2011
Country/Territory	Ireland
City	Limerick
Period	11/10/28 → 11/10/31

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.1109/ICSENS.2011.6127098

Cite this

Ascia, A, Biso, M, Ansaldo, A, Schmitz, A, Ricci, D, Natale, L, Metta, G & Sandini, G 2011, Improvement of tactile capacitive sensors of the humanoid robot iCub's fingertips. in IEEE Sensors 2011 Conference, SENSORS 2011., 6127098, Proceedings of IEEE Sensors, pp. 504-507, 10th IEEE SENSORS Conference 2011, SENSORS 2011, Limerick, Ireland, 11/10/28. https://doi.org/10.1109/ICSENS.2011.6127098

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abstract = "Humanoid robots use tactile fingertips to perform object manipulation. In this paper, an improved prototype of a tactile capacitive fingertip for the hands of the humanoid robot iCub is presented. In particular, a conductive silicone based material has been used to improve the characteristics of the capacitive sensor and an additional silicone foam layer has been also introduced in the sensor architecture to prevent behavior variation due to fingertip deterioration (e.g., caused by object manipulation). A characterization of the fingertip sensing behavior is presented. This work is funded by the European Commission as part of the project ICT-FP7-231500 RoboSKIN.",

author = "A. Ascia and M. Biso and A. Ansaldo and A. Schmitz and D. Ricci and L. Natale and G. Metta and G. Sandini",

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doi = "10.1109/ICSENS.2011.6127098",

language = "English",

isbn = "9781424492886",

series = "Proceedings of IEEE Sensors",

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AU - Ascia, A.

AU - Biso, M.

AU - Ansaldo, A.

AU - Schmitz, A.

AU - Ricci, D.

AU - Natale, L.

AU - Metta, G.

AU - Sandini, G.

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N2 - Humanoid robots use tactile fingertips to perform object manipulation. In this paper, an improved prototype of a tactile capacitive fingertip for the hands of the humanoid robot iCub is presented. In particular, a conductive silicone based material has been used to improve the characteristics of the capacitive sensor and an additional silicone foam layer has been also introduced in the sensor architecture to prevent behavior variation due to fingertip deterioration (e.g., caused by object manipulation). A characterization of the fingertip sensing behavior is presented. This work is funded by the European Commission as part of the project ICT-FP7-231500 RoboSKIN.

AB - Humanoid robots use tactile fingertips to perform object manipulation. In this paper, an improved prototype of a tactile capacitive fingertip for the hands of the humanoid robot iCub is presented. In particular, a conductive silicone based material has been used to improve the characteristics of the capacitive sensor and an additional silicone foam layer has been also introduced in the sensor architecture to prevent behavior variation due to fingertip deterioration (e.g., caused by object manipulation). A characterization of the fingertip sensing behavior is presented. This work is funded by the European Commission as part of the project ICT-FP7-231500 RoboSKIN.

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Improvement of tactile capacitive sensors of the humanoid robot iCub's fingertips

Abstract

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Conference

ASJC Scopus subject areas

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