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Article: Soft magnetic skin for super-resolution tactile sensing with force self-decoupling

TitleSoft magnetic skin for super-resolution tactile sensing with force self-decoupling
Authors
Issue Date2021
PublisherAmerican Association for the Advancement of Science. The Journal's web site is located at http://robotics.sciencemag.org/
Citation
Science Robotics, 2021, v. 6 n. 51, p. article no. eabc8801 How to Cite?
AbstractHuman skin can sense subtle changes of both normal and shear forces (i.e., self-decoupled) and perceive stimuli with finer resolution than the average spacing between mechanoreceptors (i.e., super-resolved). By contrast, existing tactile sensors for robotic applications are inferior, lacking accurate force decoupling and proper spatial resolution at the same time. Here, we present a soft tactile sensor with self-decoupling and super-resolution abilities by designing a sinusoidally magnetized flexible film (with the thickness ~0.5 millimeters), whose deformation can be detected by a Hall sensor according to the change of magnetic flux densities under external forces. The sensor can accurately measure the normal force and the shear force (demonstrated in one dimension) with a single unit and achieve a 60-fold super-resolved accuracy enhanced by deep learning. By mounting our sensor at the fingertip of a robotic gripper, we show that robots can accomplish challenging tasks such as stably grasping fragile objects under external disturbance and threading a needle via teleoperation. This research provides new insight into tactile sensor design and could be beneficial to various applications in robotics field, such as adaptive grasping, dexterous manipulation, and human-robot interaction.
Persistent Identifierhttp://hdl.handle.net/10722/300570
ISSN
2020 Impact Factor: 23.748
2020 SCImago Journal Rankings: 5.619
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorYan, YC-
dc.contributor.authorHU, Z-
dc.contributor.authorYang, Z-
dc.contributor.authorYuan, W-
dc.contributor.authorSong, C-
dc.contributor.authorPan, J-
dc.contributor.authorShen, Y-
dc.date.accessioned2021-06-18T14:53:53Z-
dc.date.available2021-06-18T14:53:53Z-
dc.date.issued2021-
dc.identifier.citationScience Robotics, 2021, v. 6 n. 51, p. article no. eabc8801-
dc.identifier.issn2470-9476-
dc.identifier.urihttp://hdl.handle.net/10722/300570-
dc.description.abstractHuman skin can sense subtle changes of both normal and shear forces (i.e., self-decoupled) and perceive stimuli with finer resolution than the average spacing between mechanoreceptors (i.e., super-resolved). By contrast, existing tactile sensors for robotic applications are inferior, lacking accurate force decoupling and proper spatial resolution at the same time. Here, we present a soft tactile sensor with self-decoupling and super-resolution abilities by designing a sinusoidally magnetized flexible film (with the thickness ~0.5 millimeters), whose deformation can be detected by a Hall sensor according to the change of magnetic flux densities under external forces. The sensor can accurately measure the normal force and the shear force (demonstrated in one dimension) with a single unit and achieve a 60-fold super-resolved accuracy enhanced by deep learning. By mounting our sensor at the fingertip of a robotic gripper, we show that robots can accomplish challenging tasks such as stably grasping fragile objects under external disturbance and threading a needle via teleoperation. This research provides new insight into tactile sensor design and could be beneficial to various applications in robotics field, such as adaptive grasping, dexterous manipulation, and human-robot interaction.-
dc.languageeng-
dc.publisherAmerican Association for the Advancement of Science. The Journal's web site is located at http://robotics.sciencemag.org/-
dc.relation.ispartofScience Robotics-
dc.rightsScience Robotics. Copyright © American Association for the Advancement of Science.-
dc.rightsThis is the author’s version of the work. It is posted here by permission of the AAAS for personal use, not for redistribution. The definitive version was published in [Science Journal Title] on [Volume number and date], DOI: [insert DOI number].-
dc.titleSoft magnetic skin for super-resolution tactile sensing with force self-decoupling-
dc.typeArticle-
dc.identifier.emailPan, J: jpan@cs.hku.hk-
dc.identifier.authorityPan, J=rp01984-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1126/scirobotics.abc8801-
dc.identifier.pmid34043530-
dc.identifier.scopuseid_2-s2.0-85102661411-
dc.identifier.hkuros323041-
dc.identifier.volume6-
dc.identifier.issue51-
dc.identifier.spagearticle no. eabc8801-
dc.identifier.epagearticle no. eabc8801-
dc.identifier.isiWOS:000628867600002-
dc.publisher.placeUnited States-

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