Human–Machine Interface (HMI) plays a key role in the interaction between people and machines, which allows people to easily and intuitively control the machine and immersively experience the virtual world of the meta-universe by virtual realit...
This paper reports the design of a tactile sensor patch to cover large areas of robots and machines that interact with human beings. Many devices have been proposed to meet such a demand. These realizations are mostly custom-built or developed in the...
Multidimensional force sensors are key devices capable of simultaneously perceiving and analyzing force in multiple directions (normally triaxial forces). They are designed to provide intelligent systems with skin-like precision in environmental inte...
The resolution of contact location is important in many applications in robotics and automation. This is generally done by using an array of contact or tactile receptors, which increases cost and complexity as the required resolution or area is incre...
Flexible tactile sensors capable of detecting the magnitude and direction of the applied force together are of great interest for application in human-interactive robots, prosthetics, and bionic arms/feet. Human skin contains excellent tactile sensin...
Decoupling research on flexible tactile sensors play a very important role in the intelligent robot skin and tactile-sensing fields. In this paper, an efficient machine learning method based on the improved back-propagation (BP) algorithm is proposed...
This paper presents the design of a new force/tactile sensor for robotic applications. The sensor is suitably designed to provide the robotic grasping device with a sensory system mimicking the human sense of touch, namely, a device sensitive to cont...
A slim and flexible tactile sensor applicable to the interaction of human and intelligent robots is presented. In particular, a simple sensing principle for decoupling of three-dimensional force is proposed. Sensitivity of the proposed tactile sensor...
This paper presents a multi-axis low-cost soft magnetic tactile sensor with a high force range for force feedback in robotic surgical systems. The proposed sensor is designed to fully decouple the output response for normal, shear and angular forces....
This work describes the development of a vision-based tactile sensor system that utilizes the image-based information of the tactile sensor in conjunction with input loads at various motions to train the neural network for the estimation of tactile c...
A new flexible piezoelectric tactile sensor array based on polyvinylidene fluoride (PVDF) film is proposed for measuring three-axis dynamic contact force distribution. The array consists of six tactile units arranged as a 3 × 2 matrix with spacing 8...
Although they have been under development for years and are attracting a lot of attention, vision-based tactile sensors still have common defects—the use of such devices to infer the direction of external forces is poorly investigated, and the...
This paper presents the design and calibration of a new force/tactile sensor for robotic applications. The sensor is suitably designed to provide the robotic grasping device with a sensory system mimicking the human sense of touch, namely, a device s...
Tactile sensing provides critical information, such as force, texture, shape or temperature, in manipulation tasks. In particular, tactile sensors traditionally used in robotics are emphasized in contact force determination for grasping control and o...
Tactile sensing is an important perception mode for robots, but the existing tactile technologies have multiple limitations. What kind of tactile information robots need, and how to use the information, remain open questions. We believe a soft sensor...
This paper proposes a novel underwater dexterous hand structure whose fingertip is equipped with underwater tactile force sensor (UTFS) array to realize the grasping sample location determination and force perception. The measurement structure, theor...
Real-time multi-axis distributed tactile sensing is a critical capability if robots are to perform stable gripping and dexterous manipulation, as it provides crucial information about the sensor–object interface. In this paper, we present an op...
Flexible sensing tends to be widely exploited in the process of human–computer interactions of intelligent robots for its contact compliance and environmental adaptability. A novel flexible capacitive tactile sensor was proposed for multi-direc...
Sea anemones detect external stimuli through the deformation of their soft tentacles, which exhibit multi-directional force sensitivity. Inspired by this mechanism, we designed a capacitive three-dimensional force flexible tactile sensor composed of...
Blood pressure (BP) is a physiological parameter reflecting hemodynamic factors and is crucial in evaluating cardiovascular disease and its prognosis. In the present study, the reliability of a non-invasive and continuous BP measurement using a three...
The large interest in utilising fibre Bragg grating (FBG) strain sensors for minimally invasive surgery (MIS) applications to replace conventional electrical tactile sensors has grown in the past few years. FBG strain sensors offer the advantages of...
Tactile sensors for robotic applications enhance the performance of robotic end-effectors as they ca n provide tactile information to operate various tasks. In particular, tactile sensors can measure multi-axial force and detect slip can aid the end-...
Flexible magnetic tactile sensors hold transformative potential in robotics and human–computer interactions by enabling precise force detection. However, existing sensors face challenges in balancing sensitivity, detection range, and structural...
Directional force sensing is an intrinsic feature of tactile sensing. As technologies of exploratory robots evolve, with special emphasis on the emergence of soft robotics, it is crucial to equip robotic end-effectors with effective means of characte...
Tactile sensors are essential if robots are to safely interact with the external world and to dexterously manipulate objects. Current tactile sensors have limitations restricting their use, notably being too fragile or having limited performance. Mag...
A tactile record and playback system will progress tactileology—a new cross-disciplinary field related to tactile sensations—as it will enhance its use in the instruction, archiving, and analysis of human manipulation. In this paper, we describe two...
Smart laparoscope device was developed and integrated into the ROBIN HEART surgery robot system. Miniaturised silicon based force sensors were developed and integrated into laparoscope tweezers for the special applications. Different sensors were app...
The progress observed in ‘soft robotics’ brought some promising research in flexible tactile, pressure and force sensors, which can be based on polymeric composite materials. Therefore, in this paper, we intend to evaluate the characteris...
Sensors provide robotic systems with the information required to perceive the changes that happen in unstructured environments and modify their actions accordingly. The robotic controllers which process and analyze this sensory information are usuall...
We developed a tactile sensor for robot hands that can measure normal force (FZ) and tangential forces (FX and FY) using photoelasticity. This tactile sensor has three photodiodes and three light-emitting diode (LED) white light sources. The sensor i...
The authors have developed a micro-vibration actuator using filiform SMA wire electrically driven by periodic electric current. While applying the SMA actuators to tactile displays, we discovered a phenomenon that the deformation caused by a given st...
Tactile sensors of comprehensive functions are urgently needed for the advanced robot to co-exist and co-operate with human beings. Pneumatic tactile sensors based on air bladder possess some noticeable advantages for human-robot interaction applicat...
Tactile information is crucial for recognizing physical interactions, manipulation of an object, and motion planning for a robotic gripper; however, concurrent tactile technologies have certain limitations over directional force sensing. In particula...
Force sensitive conductive composite materials are functional materials which can be used as the sensitive material of force sensors. However, the existing sensors only use one-dimensional electrical properties of force sensitive conductive materials...
Splinting techniques are widely used in medicine to inhibit the movement of arthritic joints. Studies into the effectiveness of splinting as a method of pain reduction have generally yielded positive results, however, no significant difference has be...
Tactile sensory organs for three-dimensional (3D) force perception are essential for most living organisms and enable them to perform complex and sophisticated tasks to survive and evolve. Magnetic-based tactile sensors have been developed rapidly in...
The anatomy of a tooth was the inspiration for this tactile sensor study. The sensor consisted of a pole that was fixed in the middle of an acrylic base using a viscoelastic silicone elastomer. Four strain gauges were fixed three-dimensionally around...
Despite widespread modular tooling in robots and automated systems, tactile sensing lags behind, constrained by custom and non-interchangeable sensors. To close this gap, we developed a clip-on cylindrical tactile module that combines a snap-fit Clip...
Robotic-assisted surgery (RAS) provides enhanced dexterity and visualisation but remains constrained by the absence of clinically meaningful palpation and haptic feedback. This perspective examines palpation sensing in RAS from an engineering and sys...
Transfer of learning or leveraging a pre-trained network and fine-tuning it to perform new tasks has been successfully applied in a variety of machine intelligence fields, including computer vision, natural language processing and audio/speech recogn...
Tactile sensing can enhance robotic grasping by providing contact information unavailable from vision or control signals alone. However, implementing tactile sensing in robotic hands is often constrained by external wiring, data-acquisition hardware,...
Soft tactile sensors have been applied to robotic grippers for assembly. It is a challenging task to obtain contact information and object orientation using tactile sensors during grasping. Currently, the design of Hall-effect-based tactile sensors t...
Simultaneous measurement of force and position often relies on delicate tactile sensing systems that only measure small forces at discrete positions. This study proposes a compact, durable sensor which can provide simultaneous and continuous measurem...
Soft and flexible capacitive tactile sensors are vital in prosthetics, wearable health monitoring, and soft robotics applications. However, achieving accurate real-time force detection and spatial localization remains a significant challenge, especia...
Sensor-based devices can record pressure or force over time during grasping and therefore offer a more comprehensive approach to quantifying grip strength during sustained contractions. The objectives of this study were to investigate the reliability...
In order to obtain external information and ensure the security of human–computer interaction, a double sensitive layer structured tactile sensor was proposed in this paper. Based on the EIT (Electrical Impedance Tomography) method, the sensor...
This work introduces a novel fiber Bragg grating (FBG)-based tactile sensor specifically developed for real-time force monitoring at the tips of flexible ureteroscopes. With a diameter of only 1.5 mm, the sensor features a dual-FBG configuration that...
This paper comprehensively reviews sensors and sensing devices developed or/and proposed so far utilizing two smart materials: electrorheological fluids (ERFs) and magnetorheological materials (MRMs) whose rheological characteristics such as stiffnes...
This review focuses on touching-based underwater robotic perception and manipulation, and provides a comprehensive overview of the current research landscape. We begin by examining underwater tactile sensors, discussing their basic types and recent a...
In this paper, a novel capacitive tactile sensing device has proposed and demonstrated to solve coupling problem within the normal force and shear force by the unique design of electrode shape. In addition, the tactile sensor was added in the measuri...
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