tactile sensing from humans to humanoids(ieee paper 2010)sultan

TACTILE SENSING - FROM TACTILE SENSING - FROM HUMANS TO HUMANOIDSHUMANS TO HUMANOIDS

Publication Date: Feb. 2010 Volume: 26 Issue: 1 On page(s): 1 - 20 ISSN: 1552-3098 INSPEC Accession Number: 11135931 Digital Object Identifier: 10.1109/TRO.2009.2033627 First Published: 2009-11-20 08:40:03.0 Current Version Published: 05 February 2010

INTRODUCTIONINTRODUCTION

ROBOTIC devices, limited to the structured environment of manufacturing plants until few years ago, are slowly entering into human life in one form or another. This has led to emergence of interaction and learning issues—more so for humanoid robots.

Humanoid robots, introduced as “mechanical knight” by Leonardo da Vinci in 1495 A.D. [1].

“Sense of touch” allows assessing object properties, e.g., size, shape texture, temperature, etc.

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INTRODUCTION (CONTD)INTRODUCTION (CONTD)

As in humans, touch sensing in humanoid robots would help in understanding the interaction behaviors of a real-world objects.

Design of robotic tactile sensing system must be guided by a broad, but integrated, knowledge of how tactile information is encoded and transmitted at various stages of interaction.

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PURPOSEPURPOSE

Humanoid robots are used as a research tool in several scientific areas. Researchers need to understand the human body structure and behavior to build and study humanoid robots.

On the other side, the attempt to simulate the human body leads to a better understanding of it. Human cognition is a field of study which is focused on how humans learn from sensory information in order to acquire perceptual and motor skills.

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This knowledge is used to develop computational models of human behaviour and it has been improving over time.

Although the initial aim of humanoid research was to build better orthosis and prosthesis for human beings, knowledge has been transferred between both disciplines.

Besides the research, humanoid robots are being

developed to perform human tasks like personal assistance, where they should be able to assist the sick and elderly, and dirty or dangerous jobs.

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Regular jobs like being a receptionist or a worker of an automotive manufacturing line are also suitable for humanoids.

In essence, since they can use tools and operate

equipment and vehicles designed for the human form, humanoids could theoretically perform any task a human being can, so long as they have the proper software. However, the complexity of doing so is deceptively great.

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Like other mechanical robots, humanoids refer to the following basic components too:

Sensing Actuating and Planning and Control.

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SENSE OF TOUCH—DEFINITIONS AND SENSE OF TOUCH—DEFINITIONS AND CLASSIFICATIONCLASSIFICATION

• The “sense of touch” in humans comprises two main sub modalities :

Cutaneous Kinesthetic

• The cutaneous sense receives sensory inputs from the receptors embedded in the skin.

• the kinesthetic sense receives sensory inputs from the receptors within muscles, tendons, and joints.

• sensory inputs are not only mechanical stimulations but also heat, cooling, and various stimuli that produce pain.

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Interestingly, humanoids outperform humans in kinesthetic perception.

All perceptions mediated by cutaneous and/or kinesthetic sensibility are referred to as tactual perception.

The “sense of touch” is classified as passive and active.

In an everyday context, the touch is active as the sensory apparatus is present on the body structures that produce movements.

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Generally, robotic tactile sensing is related to the measurement of forces in a predetermined area, defined as the continuous detection of forces in an array.

In this context, the definition of a tactile sensor—a device or system that can measure a given property of an object through contact in the world.

The figure shows Components of tactual perception.

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• robotic tactile sensing is categorized in two ways—“perception for action” and “action for perception”.

• Based on the body site, where tactile sensors are located, robotic tactile sensing can be categorized as intrinsic and extrinsic tactile sensing.

• Intrinsic sensors, which are placed within the mechanical structure of the robot, derive the contact information like magnitude of force using force sensors.

• Extrinsic sensors or arrays that are mounted at or near the contact interface deal with tactile data from localized regions.

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• The extrinsic tactile sensing is further categorized in two ways :

Highly sensitive parts (e.g., fingertips).

Less sensitive parts (e.g., palm).

• The working principle of tactile sensors can be resistive, capacitive, inductive, optical, magnetic, piezoelectric, ultrasonic, magneto electric, etc.

• Similarly, the physical nature of the sensors can be flexible, compliant, stiff and rigid, etc.

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HINTS FOR THE DESIGN OF ROBOTIC HINTS FOR THE DESIGN OF ROBOTIC TACTILE SENSING SYSTEMTACTILE SENSING SYSTEM• The presence of varied and distributed receptors with

sharp division of functions calls for using different kinds of miniaturized sensors.

• The spatial resolution of the tactile sensors, distributed or arranged in an array, should be based on the body site.

• The sensors should demonstrate high sensitivity and wide dynamic range.

• The robotic tactile sensors should respond quickly.

• it is important for large tactile arrays or modules to have some level of preprocessing (data selection, local computation, etc.) at the sensory location.

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• The contact information should be transferred via different paths with different transfer rates.

• The taxels may also be embedded into or covered with elastic material just like the receptors in the skin that lie under different layers of skin.

• The elastic covering of the sensors may be designed to have structures like intermediate and papillary ridges present in the skin.

• Biological sensors can derive information like detailed contours of objects, because the skin is compliant and conforms to object.

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TACTILE SENSOR TYPESTACTILE SENSOR TYPES

Proprioceptive Sensor : Proprioceptive sensors sense the position, the orientation and the speed of the humanoid’s body and joints.In human beings inner ears are used to maintain balance and orientation.

Humanoid robots use accelerometers to measure the acceleration, from which velocity can be calculated by integration

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Tilt sensors to measure inclination.

Force sensors placed in robot’s hands and feet to measure contact force with environment.

Exteroceptive Sensors

Exteroceptive sensors give the information about the real world.

Proximity sensors are used to measure the relative distance (range) between the sensor and objects in the environment.

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They perform the same task that vision and tactile sensing do in human beings. For that, humanoid robots can use sonar, infrared sensors or tactile sensors like bump sensors, whiskers (or feelers), capacitive or piezoresistive sensors.

CCD cameras as vision sensors.

Microphones as Sound sensors.

Actuators : Actuator is the name given to each one of the motors which move the humanoid.Humanoids, have actuators that perform like muscles and joints, although with a different structure.

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Various other sensors are as follows:Resistive SensorsTunnel Effect Tactile SensorsCapacitive SensorOptical SensorsUltra-sonic Based SensorsMagnetism-Based SensorsPiezoelectric Sensors

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HONDA’S ASIMO, A HUMANOID HONDA’S ASIMO, A HUMANOID ROBOTROBOT

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ISSUES AND DISCUSSIONISSUES AND DISCUSSION

Transduction of contact data. The need for a suitable signal conditioning circuitry. The amount of wires needed to read and transmit the

data from a large number of taxels is another key issue. The transmission of tactile data is normally done with

serial buses. Data selection is another way of reducing or optimally

using the tactile data. To construct the world model.

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CONCLUSIONCONCLUSION

We can conclude that ,using robots we have both advantages as well as disadvantages .

The disadvantages is that they may fall over and be damaged,and this is one of the fatal barriers to practical applications of humanoid robots.

By accessing information via the internet, humanoids become a provider of news and weather reports.

It is felt that despite experimenting with a broad spectrum of transduction technologies and innovative designs, tactile sensing has not made much headway.

An effective inclusion of touch sensors on touch-sense-impoverished robots will not only advance research in robotics but will also help understand the human interaction with the environment.

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REFERENCESREFERENCES

Ravinder S. Dahiya, Member, IEEE, Giorgio Metta, Maurizio Valle, Member, IEEE, and Giulio Sandini IEEE TRANSACTIONS ON ROBOTICS, VOL. 26, NO. 1, FEBRUARY 2010.

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LIFE IN THE FUTURE WILL PROBABLY SEE THESE WONDERFULL MACHINES DOING CHORES IN OUR HOUSE….MAY BE ? ? ?

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THANK YOUTHANK YOU

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