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Sensors 2017, 17(9), 1974; https://doi.org/10.3390/s17091974

A Tactile Sensor Network System Using a Multiple Sensor Platform with a Dedicated CMOS-LSI for Robot Applications

1
Department of Robotics, Tohoku University, Miyagi 980-8579, Japan
2
Microsystem Integration Center, Tohoku University, Miyagi 980-8579, Japan
3
Partner Robot Div., Toyota Motor Corporation, Toyota, Aichi 470-0309, Japan
4
System & Electronics Engineering Dept. III, Toyota Central R&D Labs., Inc., Nagakute, Aichi 480-1192, Japan
5
Department of Mechatronics Engineering, Meijo University, Nagoya, Aichi 468-8502, Japan
This paper is an extended version of our paper published in A multiple sensor platform with dedicated CMOS-LSIs for robot applications. In Proceedings of the 2016 IEEE 11th Annual International Conference on Nano/Micro Engineered and Molecular Systems (NEMS), Sendai, Japan, 17–20 April 2016.
Current Address: Department of Electrical Engineering and Computer Science, University of California, Irvine, CA 92697-2625, USA.
Current Address: Department of Electrical Engineering and Computer Science, University of California, Irvine, CA 92697-2625, USA.
*
Author to whom correspondence should be addressed.
Received: 2 August 2017 / Revised: 19 August 2017 / Accepted: 23 August 2017 / Published: 28 August 2017
(This article belongs to the Special Issue Tactile Sensors and Sensing)
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Abstract

Robot tactile sensation can enhance human–robot communication in terms of safety, reliability and accuracy. The final goal of our project is to widely cover a robot body with a large number of tactile sensors, which has significant advantages such as accurate object recognition, high sensitivity and high redundancy. In this study, we developed a multi-sensor system with dedicated Complementary Metal-Oxide-Semiconductor (CMOS) Large-Scale Integration (LSI) circuit chips (referred to as “sensor platform LSI”) as a framework of a serial bus-based tactile sensor network system. The sensor platform LSI supports three types of sensors: an on-chip temperature sensor, off-chip capacitive and resistive tactile sensors, and communicates with a relay node via a bus line. The multi-sensor system was first constructed on a printed circuit board to evaluate basic functions of the sensor platform LSI, such as capacitance-to-digital and resistance-to-digital conversion. Then, two kinds of external sensors, nine sensors in total, were connected to two sensor platform LSIs, and temperature, capacitive and resistive sensing data were acquired simultaneously. Moreover, we fabricated flexible printed circuit cables to demonstrate the multi-sensor system with 15 sensor platform LSIs operating simultaneously, which showed a more realistic implementation in robots. In conclusion, the multi-sensor system with up to 15 sensor platform LSIs on a bus line supporting temperature, capacitive and resistive sensing was successfully demonstrated. View Full-Text
Keywords: next generation robot; sensor platform LSI; multi-kind sensing; tactile sensor network system; multi-point bus connection; single-ended communication next generation robot; sensor platform LSI; multi-kind sensing; tactile sensor network system; multi-point bus connection; single-ended communication
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Shao, C.; Tanaka, S.; Nakayama, T.; Hata, Y.; Bartley, T.; Nonomura, Y.; Muroyama, M. A Tactile Sensor Network System Using a Multiple Sensor Platform with a Dedicated CMOS-LSI for Robot Applications. Sensors 2017, 17, 1974.

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