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System Issues, Requirements and Expectations

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Robotic Tactile Sensing

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Abstract

This chapter presents a discussion on the development of a robotic tactile sensing system, keeping in view the tasks and the system related expectations and requirements. The expectations and requirements generally translate into the constraints (or vice-versa), which can be used to set various limits during the design phase of the tactile sensing system. A number of desired requirements are discussed.

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Notes

  1. 1.

    Developing tactile sensing systems along with the robotic platforms and their sensing hardware will be relatively simpler as many design constraints or boundary conditions can be relaxed. In this sense, the above discussion presents a worst case scenario.

  2. 2.

    The Fuller Projection is rendered by juxtaposing a grid of triangles on the globe and transferring the data to corresponding triangles on an unfolded icosahedron. The Fuller Projection, or Dymaxion Map, created by Buckminster Fuller, solves the age-old problem of displaying spherical data on a flat surface using a low-distortion transformation. The map also shows the world’s land masses without interruption.

  3. 3.

    The PVDF polymer possesses both piezoelectric and pyroelectric properties. This means that a PVDF based sensor can be used to measure the mechanical stimulus provided that sensed values are compensated for the temperature dependence. The same can either be done mathematically using previously measured temperature dependent response or by measuring the same using another similar but mechanically isolated PVDF based sensor.

  4. 4.

    The control bandwidth provides the frequency range within which a system can be controlled.

  5. 5.

    In the early 1990s, work began on the modern CMOS active pixel sensor (APS), conceived originally in 1968. It was quickly realized that adding an amplifier to each pixel significantly increases the sensor speed and improves its signal-to-noise ratio (SNR), thus overcoming the shortcomings of passive pixel sensors. A local analog pixel memory is also present and a shutter mechanism helps in synchronizing the information captured by the pixel in the array [47].

  6. 6.

    This classification reflects an electronic viewpoint. There could be other classifications also. For instance classification of tactile sensors based on active and passive transducer materials. The active transducers (e.g. piezoelectric materials) do not require external power for their operation. On the contrary the passive transducers (e.g. resistive, capacitive etc.) require external source of power.

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Author notes

  1. Ravinder S. Dahiya

    Present address: Center for Materials and Microsystems, Fondazione Bruno Kessler, Trento, Italy

Authors and Affiliations

  1. Istituto Italiano di Tecnologia (IIT), Genova, Italy

    Ravinder S. Dahiya

  2. Department of Biophysical & Electronic Engineering, University of Genova, Genova, Italy

    Maurizio Valle

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  2. Maurizio Valle
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Dahiya, R.S., Valle, M. (2013). System Issues, Requirements and Expectations. In: Robotic Tactile Sensing. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-0579-1_4

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  • DOI: https://doi.org/10.1007/978-94-007-0579-1_4

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