(A) large-scaled, soft dynamic tactile sensor with a passive localisation for physical human robot interaction인간 로봇 상호작용을 위한 대면적의 유연한 동적 촉각 센서 개발 및 촉각 국지화

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Dynamic tactile sensors mimic the role of Fast Adapting mechanoreceptor in human skin to sense high-frequency physical interactions. Dynamic tactile sensibility in a robot's body is essential for a safe and wide range of interaction between a human and a robot. It aids in safety by quickly identifying an unexpected contact that the robot may make with the surrounding. In human-robot interaction, a robot could distinguish diverse touch modalities like a tap, rub and sweep using a dynamic tactile sensor. Just like a human has high tactile sensitivity in fingertips and low sensitivity on arms or the back, a whole-body tactile sensor does not require high spatial resolution about tactile. On the other hand, softness and stretchability are more essential to cover a large curved body part of a robot. This work proposes a large-scaled soft dynamic tactile sensor using seven sparsely distributed microphones with a soft skin featured with small bumps. Sparse distribution of transducers is to efficiently cover a large receptive field, and small bumps on the skin are to easily make a vibration when a dynamic tactile is introduced. When a small bump is vibrated by a dynamic tactile on the skin, an air layer in between the skin and the microphones is vibrated. The vibration of the air layer propagates to distributed microphones with different arriving time and intensity of a signal, depending on the distance between the source of dynamic tactile and a microphone. Two source localising algorithms, time difference of arrival method and energy decay model, are employed and integrated to localise the source of the dynamic tactile using a few microphones. Three dynamic touches, tapping, rubbing and sweeping, are introduced to pre-defined locations of the proposed sensor, and evaluated by how well the sensor localises the touches. Two localising methods are integrated to employ the advantage of each method. The proposed sensor with integrated localisation method stably localised three dynamic touches with a mean error of 1.373cm, which is smaller than human's spatial resolution about dynamic tactile in the torso. The proposed sensor is robust to static tactile, such as pressure, thus could be integrated with another large area static tactile sensor to form a multimodal whole-body tactile sensor. Feasibility of the proposed sensor as a whole-body dynamic tactile sensor is approved by expanding the proposed sensor to curvature body of a mannequin. The proposed sensor successfully localises dynamic tactile on the mannequin’s back, but with greater localising error due to a curvature in the air layer, which increases a reverberation during propagation. The mean error but yet lies within the human’s spatial resolution about dynamic tactile in the torso.
Advisors
Kim, Jungresearcher김정researcher
Description
한국과학기술원 :기계공학과,
Publisher
한국과학기술원
Issue Date
2020
Identifier
325007
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 기계공학과, 2020.2,[vi, 57 p. :]

Keywords

Whole-body dynamic tactile sensor▼aSparsely distributed microphones▼aConformability▼aPassive localisation▼aTime difference of arrival(TDOA)▼aEnergy decay; 전신 동적 촉각 센서▼a분산 배치된 마이크▼a확장성▼a국지화▼a도착 시간 차이▼a에너지 감쇄

URI
http://hdl.handle.net/10203/284615
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=910920&flag=dissertation
Appears in Collection
ME-Theses_Master(석사논문)
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