Innovative Tactile Sensing Systems for Robotic Applications

Abstract

Tactile sensing is essential to the way humans and robots physically interact with the world. Humans use a complex system of nerves to touch and feel their surroundings. Researchers are attempting to achieve the same for robotics by studying and improving tactile sensing systems. Notably, tactile sensing for anthropomorphic robotics is of ongoing interest in homecare/ assistant, culinary, agriculture, and medical areas. The contribution to the development of tactile feedback systems can aid in advancing these robotic systems, allowing for more complex tasks to be performed. However, many of the available tactile sensing systems are currently very expensive and not practical for use in education and areas without access to expensive equipment. The price and complexity of available tactile sensing systems are currently challenging problems. This project investigates and explores sensing mechanisms, sensor structures, and fabrication methods to develop and evaluate several low-cost and accessible tactile sensors. Introducing novel designs and implementations of low-cost tactile sensors may bring more robotic systems closer to public application, positively affecting the funding and development of robotic advancements. Sequential implementation of varying materials and methods is performed to balance cost and complexity. This thesis reports: (1) An ultra low-cost graphite on paper sensor boasting an incredibly high response rate; (2) A low-cost and soft ionic liquid filled sensor capable of discerning directional pressures and temperature; (3) An easily integrable and flexible multifunctional pressure and temperature sensor; (4) A low-cost and easily integrable, flexible, and highly versatile multimodal pressure sensor. Evaluation of tactile sensing performance in robotic grippers successfully demonstrates the potential for these sensors in practical applications. This work has introduced and diversified existing technologies in robotic tactile sensing, improving the overall understanding and effectiveness of the materials and processes reported within. Presented works show the feasibility for ongoing research in areas that have been tapped into, furthering the development of smart and highly reliable low-cost tactile sensors.