Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 29 for “"Tactile Sensor"”.
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Microfabricated Shear -Sensitive Tactile Sensor: Development and Application
This research includes the sensor design, fabrication, modeling, characterization, and application. The sensor design is based on a silicon diaphragm structure instrumented with four piezoresistors. A square mesa on top of the diaphragm is used to convert an applied force into stress. Each of the …
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Design of an omnidirectional soft tactile sensor with applications in leak detection
… have many unique geometries requiring different tactile feedback mechanisms. In order to respond to their environment, soft robots would benefit by having multi-axis sensors that can determine how a surface is being contacted. As a particular application, previous soft sensor designs are used to …
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Design and Manufacturing Methods for a Curved All-Around Camera-Based Tactile Sensor
In recent years, use of camera-based tactile sensors in robotics has grown in popularity as the dexterous and in-hand manipulation tasks we aim to accomplish become more difficult and as the environments a robotic hand must interact with become more complex. Past works have shown that by giving …
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Tactile sensor design optimization for footwear applications from piezoresistive elastomer to Hall-effect integrated sensing methods
… and durability. In addition, current sensors are also unable to withstand the large impact forces and inertial noise associated with human locomotion. To address this issue, this thesis investigates alternative designs for a tactile force sensors that are largely inspired by …
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A Versatile Method of Resolution Enhancement for Tactile Sensor Array Used as Synthetic Skin: Modeling and Implementation
Tactile sensors are one of the major devices that enable robotic systems to interact with the surrounding environment. In particular, modern assistive robotic systems need to carry out many human-like activities. Thus, it is desired to have sensor arrays that can acquire different environmental …
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Gelsight robotic fingertip
Tactile sensing is integral in robotic manipulation, enabling robot hands to identify objects and explore the environment. The gelsight tactile sensor designed in MIT CSAIL is able to reconstruct the surface topography of objects up to submicron accuracy. This thesis is focused on the integration …
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Touching is believing : sensing and analyzing touch information with GelSight
… source of information, and a high-quality tactile sensor is essential. However, existing tactile sensors generally are low-resolution and/or non-compliant, making it difficult to capture detailed contact information for manipulation that humans are very good at. GelSight was first developed …
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Robust object pose estimation with point clouds from vision and touch
… pose estimation performed with hybrid visuo-tactile sensing in mind. We propose that a tactile sensor can be treated as a source of dense local geometric information, and hence consider it to be a point cloud source analogous to an RGB-D camera. We incorporate the tactile geometric …
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Improving Data-Driven Contact Localization and Force Estimation for Barometric Tactile Sensors
Barometric tactile sensors offer a cheap, robust, and customizable means for robots to perceive the world. Central to their operation are models that extract useful information from the sensors’ raw pressure readings. In this work, I focus on improving data-driven methods for single-point contact …
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Tactile sensing using elastomeric sensors
GelSight, namely, elastomeric sensor, is a novel tactile sensor to get the 3D information of contacting surfaces. Using GelSight, some tactile properties, such as softness and roughness, could be gained through image processing techniques. In this thesis, I implemented GelSight principle to …
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Sensors and structured beams in optical coherence tomography
… fiber as a probe. The system is built as a tactile sensor for implementation in surgical robots. A tactile sensor, often referred to as a force sensor, is a device that is sensitive to applied force or pressure. Since the system has a high sensitivity to pressure and a compact size, the …
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Tactile measurement with a GelSight sensor
… with GelSight. GelSight is an optical-based tactile sensor that uses a piece of coated elastomer as the contact medium. A camera records the distortion of the elastomer during contact. This sensor can obtain a high-resolution view of the contact surface geometry, which is a breakthrough for …
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Flexible, stretchable, and transient electronics for integration with the human body
… nanomembrane as a flexible electromechanical sensor element. Subsequent chapters highlight integration with active components for wireless addressing, multiplexing, and local amplification, with multimodal operation in a thin, soft, skin-like platform. The resulting biointegrated system …
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Finite element simulation and parameter optimization of a flexible tactile pressure sensor array
… was developed to optimize design of a flexible tactile sensor. The sensor consists of layers of thin-film copper and PDMS, and the model can be used to determine the effects on sensor sensitivity and durability of variations in material properties and geometry. The model was used to study the …
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Soft, round, high resolution tactile fingertip sensors for dexterous robotic manipulation
… we introduce a non-planar soft high-resolution tactile sensor. An iteration of the GelSight sensors, it enables future GelSights to have more complicated form factors, such as a humanoid fingertip. To do this we introduce a novel method for achieving directional lighting along the entirety of a …
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Soft, Compliant Tactile Robotic Manipulators
… and manipulation, we begin to look towards sensory-rich and compliant grasping mechanisms. Not only do we want to capitalize on the significant advantages in safety and adaptability that soft robots have, we also want to incorporate high-resolution tactile sensors, which will allow soft …
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Deformable Object Manipulation with a Tactile Reactive Gripper
… In previous work, Yu et. al (2019) [45] used a tactile sensor to estimate the pose of a cable within the grip while sliding along it. The authors used linear regression to model the cable sliding dynamics and used a linear quadratic regulator (LQR) controller to keep the cable centered within …
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Low-cost soft sensors and robots for leak detection in operating water pipes
… Design, fabrication and field validations of a tactile sensor for detecting leaks in operating water pipes (3) Differentiate leaks from false positives with a low-cost soft bending angle sensor (4) A practical, minimalism approach to the in-pipe localization, specifically for soft robots. The …
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High-resolution tactile sensing for robotic perception
… A major challenge lies in the lack of adequate tactile sensing technologies. Robots need tactile sensing to understand the physical environment, and detect the contact states during manipulation. A recently developed high-resolution tactile sensor, GelSight, which measures detailed information …
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