Abstract

This article presents a holistic approach to the engineering of an artificial robot skin for robots. An example of a multimodal skin cell is given, one that supports multiple human-like sensing modalities, and support for skin cell network is also provided; this is essential to form large-area skin patches in order to cover the surfaces of robots. The essential elements of efficiently handling a large amount of tactile data are explained. A general control framework, which supports robots commanded in position, velocity, and torque, is provided and validated. Several applications of this robot skin will be presented, demonstrating the effectiveness and efficiency of our artificial robot skin to support a wide number of robotic platforms as well as its ease of use across different domains.

Highlights

  • INTRODUCTIONThis article presents the engineering of an artificial robot skin for robots, and it will provide a step-by-step guide

  • 3) Event-Driven Signaling for Robot Skin: We propose a simple event-driven signaling concept for robot skin systems that can be realized without special hardware or a special skin cell network architecture

  • We developed a new self-organizing network protocol for skin cells that is capable of: 1) automatic construction of bi-directional communication trees with a deterministic low network depth without prior knowledge of the network topology; 2) dynamic online re-routing of connections on the detection of broken connections or skin cells; and 3) dynamic online load balancing to fairly balance the network load between the skin cells and connections to the host

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Summary

INTRODUCTION

This article presents the engineering of an artificial robot skin for robots, and it will provide a step-by-step guide. Achieving these attributes will surely enable the deployment of an artificial robot skin on any autonomous robot (see Fig. 1). Many of the considerations at that time, and still were to enable robots with a sense of touch similar to that of humans. This allows robots to be fully physically interactive and effectively safe to be near humans. We strongly believe that a solution needs to support all standard robot control interfaces (i.e., position, velocity, and torque), providing a fully adaptable solution for almost any robot

Related Work
Outline of the Article
Automatic Configuration and Localization of Skin Cells
Skin Cells
Mounting and Covering Robot Surfaces With Robot Skin
Event-Driven Artificial Skin
Dynamic Routing and Load Balancing
ROBOTSKINCONTROLFRAMEWORK
Postural Sensory-Motor Mapping
Skin General Control Framework
APPLIC AT IONSOFARTIFICIAL ROBOT SKIN
Intuitive Industrial Robot Teaching and Control Using Robot Skin
Skin-Based Reactive Grasping With a Four Fingers Hand
Safe Whole-Body Grasping on a Humanoid Robot
Tactile Feedback for Rehabilitation of Spinal Cord Injured Patients
Findings
CONCLUSION
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