TY - GEN
T1 - Improvement of tactile capacitive sensors of the humanoid robot iCub's fingertips
AU - Ascia, A.
AU - Biso, M.
AU - Ansaldo, A.
AU - Schmitz, A.
AU - Ricci, D.
AU - Natale, L.
AU - Metta, G.
AU - Sandini, G.
PY - 2011
Y1 - 2011
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.
UR - http://www.scopus.com/inward/record.url?scp=84856947094&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84856947094&partnerID=8YFLogxK
U2 - 10.1109/ICSENS.2011.6127098
DO - 10.1109/ICSENS.2011.6127098
M3 - Conference contribution
AN - SCOPUS:84856947094
SN - 9781424492886
T3 - Proceedings of IEEE Sensors
SP - 504
EP - 507
BT - IEEE Sensors 2011 Conference, SENSORS 2011
T2 - 10th IEEE SENSORS Conference 2011, SENSORS 2011
Y2 - 28 October 2011 through 31 October 2011
ER -