Tactile Skin Research Articles

Nanowire FET Based Neural Element for Robotic Tactile Sensing Skin.

This paper presents novel Neural Nanowire Field Effect Transistors (υ-NWFETs) based hardware-implementable neural network (HNN) approach for tactile data processing in electronic skin (e-skin). The viability of Si nanowires (NWs) as the active material for υ-NWFETs in HNN is explored through modeling and demonstrated by fabricating the first device. Using υ-NWFETs to realize HNNs is an interesting approach as by printing NWs on large area flexible substrates it will be possible to develop a bendable tactile skin with distributed neural elements (for local data processing, as in biological skin) in the backplane. The modeling and simulation of υ-NWFET based devices show that the overlapping areas between individual gates and the floating gate determines the initial synaptic weights of the neural network - thus validating the working of υ-NWFETs as the building block for HNN. The simulation has been further extended to υ-NWFET based circuits and neuronal computation system and this has been validated by interfacing it with a transparent tactile skin prototype (comprising of 6 × 6 ITO based capacitive tactile sensors array) integrated on the palm of a 3D printed robotic hand. In this regard, a tactile data coding system is presented to detect touch gesture and the direction of touch. Following these simulation studies, a four-gated υ-NWFET is fabricated with Pt/Ti metal stack for gates, source and drain, Ni floating gate, and Al2O3 high-k dielectric layer. The current-voltage characteristics of fabricated υ-NWFET devices confirm the dependence of turn-off voltages on the (synaptic) weight of each gate. The presented υ-NWFET approach is promising for a neuro-robotic tactile sensory system with distributed computing as well as numerous futuristic applications such as prosthetics, and electroceuticals.

Pressure-sensitive carbon black/graphene nanoplatelets-silicone rubber hybrid conductive composites based on a three-dimensional polydopamine-modified polyurethane sponge

Development of pressure sensors which display high sensitivity, and are flexible, inexpensive, and easy to manufacture has drawn significant interest due to their diverse applications such as tactile skin sensors (e.g. electronic skin), pulse detectors, speech recognition elements, and others. A novel flexible piezoresistive sensor comprising a conductive carbon black/graphene nanoplatelets coated elastomeric polymer sponge is presented. The piezoresistive sponge is prepared through a simple layer-by-layer (LbL) assembly method in which carbon black/graphene nanoplatelets (CB/GNPs) particles and silicone rubber (SR) are alternantly coated upon an polydopamine-modified polyurethane sponge(PU sponge) framework. The hybrid sponge piezoresistive sensor exhibits excellent functionalities, including enhanced sensitivity(0.38 kPa−1), excellent stability (>10 loading/unloading cycles), high specific strength, good elasticity, and high compressibility. In addition, the LbL assembly technology of preparing CB/GNPs-SR hybrid sponge shows large superiority in programmable fabrication way. Application of the sensor is demonstrated for the detection of various external stimuli such as sound-driven vibrations, muscle motions.

Energy‐Autonomous, Flexible, and Transparent Tactile Skin

Tactile or electronic skin is needed to provide critical haptic perception to robots and amputees, as well as in wearable electronics for health monitoring and wellness applications. Energy autonomy of skin is a critical feature that would enable better portability and longer operation times. This study shows a novel structure, consisting of a transparent tactile sensitive layer based on single‐layer graphene, and a photovoltaic cell underneath as a building block for energy‐autonomous, flexible, and tactile skin. Transparency of the touch sensitive layer is considered a key feature to allow the photovoltaic cell to effectively harvest light. Moreover, ultralow power consumed by the sensitive layer (20 nW cm−2) further reduces the photovoltaic area required to drive the tactile skin. In addition to its energy autonomy, the fabricated skin is sensitive to touch, mainly because a transparent polymeric protective layer, spin‐coated on the sensor's active area, makes the coplanar capacitor sensitive to touch, detecting minimum pressures of 0.11 kPa with a uniform sensitivity of 4.3 Pa−1 along a broad pressure range. Finally, the tactile skin patches are integrated on a prosthetic hand, and the responses of the sensors for static and dynamic stimuli are evaluated by performing tasks, ranging from simple touching to grabbing of soft objects.

Experimental research on the tactile perception from fingertip skin friction

Skin friction is a main perception channel for humankind to recognize object surface properties. However, the relationship between tactile perception and skin friction is a typical bio-tribology interdisciplinary problem, which is rarely studied both in biology and tribology fields. In order to study the brain stimulation response to the fingertips sliding friction, cognitive related fingertip friction testing was carried out, and the tactile perception evoked by the friction and vibration of various surface textures was investigated in this paper, human subjective tactile experiments was carried out through twenty volunteers testing for the tactile perception of surface properties, focused on three fabric samples (cotton, linen and silk) and three paper samples (photo paper, kraft paper and normal paper). The friction coefficient and frictional vibration signals were measured, and the brain response signals stimulated by the fingertip friction were simultaneously recorded and analyzed. The research works in this paper are beneficial for the deep understanding of tactile perception mechanism by fingertips, and building up a biomimetic model for smart robotic fingers.The research results indicate that the cerebral cortex responds sensitively to the variations in fingertips frictional force and vibration amplitudes. The human tactile perception is very sensitive to the fabric texture properties, which are described by the dimensions such as rough-smooth, coarse-fine and complex-uniform. The higher values of the fabric texture dimensions, the lower values in friction coefficient, and the more sensitive of tactile perception for the surface textures. Furthermore, it is noticed that the amplitude and distribution of brain signals response, i.e. ERPs (event related potentials) evoked by fingertip friction, is affected by the surface texture or friction coefficient. It is found that the response sensibility shown on the beginning peaks of ERP waveform has strong relation to the frictional stimulus on fingertip friction. The parameter of P3 latency (i.e. the third positive peak of ERP) is the distinct identifying information for the tactile perception of surface textures.

49-1:Invited Paper: Large-Area Tactile Skins Prepared with Thin-Film Technology

Mechanoereceptors embedded in the glabrous skin of the human hand encode a range of physical stimuli e.g. pressure, strain, and temperature. The shape, softness, and distributed modalities of the natural skin make it challenging to replicate with synthetic materials. Using stretchable metallization on soft, elastomeric carrier substrates, we have optimized and implemented a multimodal electronic skin covering the dorsal and palmar sides of the fingers. The wearable tactile skin includes resistive sensors monitoring finger articulation and capacitive pressure sensors that register distributed pressure along the entire length of the finger. The next challenge is the integration of a soft thin-film transistor “backplane” with the “frontplane” sensors to engineer a high-density, highly distributed tactile electronic skin.

Baby carriers: a comparison of traditional sling and front-worn, rear-facing harness carriers

The baby sling is a traditional baby carrier in Asia and the front-worn harness carriers are adapted in modern society. We compared the baby sling with front-worn harness carrier in terms of the physiological responses of the baby caregiver. Ten females (aged 23–32 years) and 10 males (aged 23–35 years) were recruited to participate in this study. Each subject was asked to carry two different weight baby dummies (7 and 10 kg) using three different baby carriers. The electromyography (EMG), shoulder tactile pressure, skin temperatures as well as heart rate were measured during baby carrying. The traditional baby sling and the two front-worn harness carriers showed little differences in EMG activities, shoulder tactile pressure and exercise intensity. Carrying two different weighted baby dummies caused significant differences in EMG and shoulder tactile pressure. Based on the findings of this study, recommendations about the improved baby carrier design are proposed.Practitioner Summary: This study compared traditional sling and front-worn harness baby carriers using caregivers’ physiological responses including electromyography, shoulder tactile pressure, skin temperature and heart rate. Differences found between the carriers provide valuable information for baby carrier design and recommendations for the baby-carrying task.

Multiplexed Population Coding of Stimulus Properties by Leech Mechanosensory Cells.

Multiplexing, the simultaneous encoding of different stimulus properties by distinct neuronal response features, has recently been suggested as a mechanism used in several sensory systems, including primate somatosensation. While a rigorous experimental verification of the multiplexing hypothesis is difficult to accomplish in a complex vertebrate system, it is feasible for a small population of individually characterized leech neurons. Monitoring the responses of all four mechanoreceptors innervating a patch of skin revealed striking similarities between touch encoding in the primate and the leech: summed spike counts represent stimulus intensity, whereas relative timing of first spikes encodes stimulus location. These findings suggest that multiplexed population coding is a general mechanism of touch encoding common to species as different as man and worm.

New materials and advances in making electronic skin for interactive robots

Flexible electronics has huge potential to bring revolution in robotics and prosthetics as well as to bring about the next big evolution in electronics industry. In robotics and related applications, it is expected to revolutionise the way with which machines interact with humans, real-world objects and the environment. For example, the conformable electronic or tactile skin on robot’s body, enabled by advances in flexible electronics, will allow safe robotic interaction during physical contact of robot with various objects. Developing a conformable, bendable and stretchable electronic system requires distributing electronics over large non-planar surfaces and movable components. The current research focus in this direction is marked by the use of novel materials or by the smart engineering of the traditional materials to develop new sensors, electronics on substrates that can be wrapped around curved surfaces. Attempts are being made to achieve flexibility/stretchability in e-skin while retaining a reliable operation. This review provides insight into various materials that have been used in the development of flexible electronics primarily for e-skin applications.

Tactile Superresolution and Biomimetic Hyperacuity

Motivated by the impact of superresolution methods for imaging, we undertake a detailed and systematic analysis of localization acuity for a biomimetic fingertip and a flat region of tactile skin. We identify three key factors underlying superresolution that enable the perceptual acuity to surpass the sensor resolution: 1) the sensor is constructed with multiple overlapping, broad but sensitive receptive fields; 2) the tactile perception method interpolates between receptors (taxels) to attain subtaxel acuity; and 3) active perception ensures robustness to unknown initial contact location. All factors follow from active Bayesian perception applied to biomimetic tactile sensors with an elastomeric covering that spreads the contact over multiple taxels. In consequence, we attain extreme superresolution with a 35-fold improvement of localization acuity (0.12 mm) over sensor resolution (4 mm). We envisage that these principles will enable cheap high-acuity tactile sensors that are highly customizable to suit their robotic use. Practical applications encompass any scenario where an end-effector must be placed accurately via the sense of touch.

Soft Tactile Skin Using an Embedded Ionic Liquid and Tomographic Imaging

Whole-body-contact sensing will be crucial in the quest to make robots capable of safe interaction with humans. This paper describes a novel design and a fabrication method of artificial tactile sensing skin for robots. The manufacturing method described in this paper allows easy filling of a complex microchannel network with a liquid conductor (e.g., room temperature ionic liquid (RTIL)). The proposed sensing skin can detect the magnitude and location of surface contacts using electrical impedance tomography (EIT), an imaging technique mostly used in the medical field and examined recently in conjunction with sensors based on a piezoresistive polymer sheet for robotic applications. Unlike piezoresistive polymers, our IL-filled artificial skin changes its impedance in a more predictable manner, since the measured value is determined by a simple function of the microchannel geometry only, rather than complex physical phenomena. As a proof of concept, we demonstrate that our EIT artificial skin can detect surface contacts and graphically show their magnitudes and locations.

Peripheral NMDA Receptors Mediate Antidromic Nerve Stimulation-Induced Tactile Hypersensitivity in the Rat.

We investigated the role of peripheral NMDA receptors (NMDARs) in antidromic nerve stimulation-induced tactile hypersensitivity outside the skin area innervated by stimulated nerve. Tetanic electrical stimulation (ES) of the decentralized L5 spinal nerve, which induced enlargement of plasma extravasation, resulted in tactile hypersensitivity in the L4 plantar dermatome of the hind-paw. When intraplantar (i.pl.) injection was administered into the L4 dermatome before ES, NMDAR and group-I metabotropic Glu receptor (mGluR) antagonists and group-II mGluR agonist but not AMPA/kainate receptor antagonist prevented ES-induced hypersensitivity. I.pl. injection of PKA or PKC inhibitors also prevented ES-induced hypersensitivity. When the same injections were administered after establishment of ES-induced hypersensitivity, hypersensitivity was partially reduced by NMDAR antagonist only. In naïve animals, i.pl. Glu injection into the L4 dermatome induced tactile hypersensitivity, which was blocked by NMDAR antagonist and PKA and PKC inhibitors. These results suggest that the peripheral release of Glu, induced by antidromic nerve stimulation, leads to the expansion of tactile hypersensitive skin probably via nociceptor sensitization spread due to the diffusion of Glu into the skin near the release site. In addition, intracellular PKA- and PKC-dependent mechanisms mediated mainly by NMDAR activation are involved in Glu-induced nociceptor sensitization and subsequent hypersensitivity.

Comments on “Directions Toward Effective Utilization of Tactile Skin: A Review”

The present authors would like to point out that the discussion reported by Dahiya <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">et al.</i> about the optoelectronic transducers developed by De Maria <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">et al.</i> contains wrong technical data that led the authors to an erroneous claim. This comment is aimed at correcting this error and at rebutting their claim.

Development of multi-fingered dexterous hand for grasping manipulation

In this paper, a developed multi-fingered dexterous hand with flexible tactile skin is described. The dexterous hand has 5-fingers with 6-DOFs and each finger is equipped with a small harmonic drive gear and a fine high-power mini actuator. To achieve the goal of grasping with high accuracy, each fingertip is covered with the tactile array sensors for determination of the force between the finger and the grasped object. Some preliminary experiments are conducted to illustrate the performance of the grasping of the developed dexterous hand.

Flexible and stretchable fabric-based tactile sensor

We introduce a novel, fabric-based, flexible, and stretchable tactile sensor, which is capable of seamlessly covering natural shapes. As humans and robots have curved body parts that move with respect to each other, the practical usage of traditional rigid tactile sensor arrays is limited. Rather, a flexible tactile skin is required. Our design allows for several tactile cells to be embedded in a single sensor patch. It can have an arbitrary perimeter and can cover free-form surfaces. In this article we discuss the construction of the sensor and evaluate its performance. Our flexible tactile sensor remains operational on top of soft padding such as a gel cushion, enabling the construction of a human-like soft tactile skin. The sensor allows pressure measurements to be read from a subtle less than 1 kPa up to high pressures of more than 500 kPa, which easily covers the common range for everyday human manual interactions. Due to a layered construction, the sensor is very robust and can withstand normal forces multiple magnitudes higher than what could be achieved by a human without sustaining damage.As an exciting application for the sensor, we describe the construction of a wearable tactile dataglove with 54 tactile cells and embedded data acquisition electronics. We also discuss the necessary implementation details to maintain long term sensor performance in the presence of moisture.

Spatial asymmetry in tactile sensor skin deformation aids perception of edge orientation during haptic exploration.

Upper-limb amputees rely primarily on visual feedback when using their prostheses to interact with others or objects in their environment. A constant reliance upon visual feedback can be mentally exhausting and does not suffice for many activities when line-of-sight is unavailable. Upper-limb amputees could greatly benefit from the ability to perceive edges, one of the most salient features of 3D shape, through touch alone. We present an approach for estimating edge orientation with respect to an artificial fingertip through haptic exploration using a multimodal tactile sensor on a robot hand. Key parameters from the tactile signals for each of four exploratory procedures were used as inputs to a support vector regression model. Edge orientation angles ranging from -90 to 90 degrees were estimated with an 85-input model having an R (2) of 0.99 and RMS error of 5.08 degrees. Electrode impedance signals provided the most useful inputs by encoding spatially asymmetric skin deformation across the entire fingertip. Interestingly, sensor regions that were not in direct contact with the stimulus provided particularly useful information. Methods described here could pave the way for semi-autonomous capabilities in prosthetic or robotic hands during haptic exploration, especially when visual feedback is unavailable.

Specific relationship between excitatory inputs and climbing fiber receptive fields in deep cerebellar nuclear neurons.

Many mossy fiber pathways to the neurons of the deep cerebellar nucleus (DCN) originate from the spinal motor circuitry. For cutaneously activated spinal neurons, the receptive field is a tag indicating the specific motor function the spinal neuron has. Similarly, the climbing fiber receptive field of the DCN neuron reflects the specific motor output function of the DCN neuron. To explore the relationship between the motor information the DCN neuron receives and the output it issues, we made patch clamp recordings of DCN cell responses to tactile skin stimulation in the forelimb region of the anterior interposed nucleus in vivo. The excitatory responses were organized according to a general principle, in which the DCN cell responses became stronger the closer the skin site was located to its climbing fiber receptive field. The findings represent a novel functional principle of cerebellar connectivity, with crucial importance for our understanding of the function of the cerebellum in movement coordination.

Directions Toward Effective Utilization of Tactile Skin: A Review

A wide variety of tactile (touch) sensors exist today for robotics and related applications. They make use of various transduction methods, smart materials and engineered structures, complex electronics, and sophisticated data processing. While highly useful in themselves, effective utilization of tactile sensors in robotics applications has been slow to come and largely remains elusive today. This paper surveys the state of the art and the research issues in this area, with the emphasis on effective utilization of tactile sensors in robotic systems. One specific with the use of tactile sensing in robotics is that the sensors have to be spread along the robot body, the way the human skin is-thus dictating varied 3-D spatio-temporal requirements, decentralized and distributed control, and handling of multiple simultaneous tactile contacts. Satisfying these requirements pose challenges to making tactile sensor modality a reality. Overcoming these challenges requires dealing with issues such as sensors placement, electronic/mechanical hardware, methods to access and acquire signals, automatic calibration techniques, and algorithms to process and interpret sensing data in real time. We survey this field from a system perspective, recognizing the fact that the system performance tends to depend on how its various components are put together. It is hoped that the survey will be of use to practitioners designing tactile sensing hardware (whole-body or large-patch sensor coverage), and to researchers working on cognitive robotics involving tactile sensing.

Prevention of pressure ulcers in spinal cord injury.

Pressure ulcers are a lifelong, serious complication of spinal cord injury. They have the potential to interfere with physical, psychological, and social well-being and to impact overall quality of life.Prevention Strategies1. Implementing pressure ulcer prevention strategies as part of the comprehensive management of acute SCI and reviewing all aspects of risk when determining prevention strategies.- Avoiding prolonged positional immobilization whenever possible.2. Conducting daily comprehensive visual and tactile skin inspections, with particular attention to the regions most vulnerable to pressure ulcer development.3. Turning or repositioning individuals with SCI initially every 2 hours in the acute and rehabilitation phases if the medical condition allows.4. Evaluating the individual and his/her support environment for optimal maintenance of skin integrity.5. Providing an individually prescribed wheelchair and pressure-reducing seating system.6. Implementing an ongoing exercise regimen for the medically stable SCI individual to promote maintenance of skin integrity, improve cardiovascular e, and prevent fatigue and deconditioning.7. Providing individuals with SCI, their families, significant others, on effective strategies for the prevention and treatment of pressure ulcers.8. Assessing nutritional status of all SCI individuals on admission and as needed, based on medical status, including:9. Providing adequate nutritional intake to meet the individual’s needs, especially:- Calories (or Energy)- Protein- Micronutrients (zinc, vitamin C, vitamin A, and vitamin E)- Fluids10. Implementing aggressive nutritional support measures if dietary intake is inadequate or if an individual is nutritionally compromised.TreatmentNonsurgical- Cleansing- Debridement- Dressings- Electrical stimulation- ReassessmentSurgical- Excising of ulcer, surrounding scar, bursa, soft tissue calcification, and underlying necrotic or infected bone- Filling dead space, enhancing vascularity of the healing wound, and distributing pressure off the bone- Resurfacing with a large regional pedicle flap, with suture line away from the area of direct pressure, and one that does not encroach on adjacent flap territories- Preserving options for future potential break-downs

Efficacy of a Novel Treatment Serum in the Improvement of Photodamaged Skin

SynopsisA novel treatment serum formulated to target multiple pathways in the anti-ageing cascade was tested both in vitro and in clinical settings. In vitro testing was performed to assess the ability to stimulate key proteins and genes fundamental to the anti-ageing cascade. The antioxidant potential of the formulation was studied in a UV-irradiation clinical study. A 12-week, open-label, single-centre study was conducted to determine whether this uniquely formulated topical treatment serum could improve visible signs of facial photodamage. Clinical evaluations showed statistically significant reductions in fine wrinkles and coarse wrinkles and improvements in skin texture, tone and radiance starting at week 4 with continued improvements at weeks 8 and 12. Subject self-assessments confirmed that the beneficial effects of the treatment serum were readily observed by the users. The treatment serum was well tolerated with no treatment-related adverse events reported during the 12-week study. Use of this novel treatment serum produced significant improvements in the visible signs of facial photodamage.RésuméUn nouveau sérum de traitement conçu pour cibler de multiples voies dans la cascade anti-âge a été testé à la fois in vitro et dans les conditions cliniques. Les tests in vitro ont été réalisés afin d'évaluer la capacité de stimuler les protéines et les gènes clés fondamentales de la cascade anti-vieillissement. Le potentiel antioxydant de la formulation a été étudié dans une étude clinique utilisant le rayonnement UV. Une étude de douze semaines, en mode ouvert, monocentrique a été menée afin de déterminer si ce sérum spécialement formulé pour le traitement topique peut améliorer les signes visibles du photo-vieillissement du visage. Des évaluations cliniques ont montré une réduction statistiquement significative des rides et des ridules secondaires et l'amélioration de la texture de la peau, du tonus et d'éclat à partir de la semaine 4 avec des améliorations continues aux semaines 8 et 12. Les autoévaluations par les sujets ont confirmé que les effets bénéfiques du sérum de traitement étaient facilement observés par les utilisateurs. Le sérum de traitement a été bien toléré avec aucun événement indésirable rapporté au cours de l'étude de 12 semaines. L'utilisation de ce nouveau sérum de traitement produit des améliorations significatives dans les signes visibles du photovieillissement du visage.

Tactile skin stimulation increases dopamine release in the nucleus accumbens in rats

We investigated the effect of mild (non-noxious) tactile stimulation (stroking) of skin on dopamine (DA) release in the nucleus accumbens (NAc) of rats. A coaxial microdialysis probe was stereotaxically implanted in the NAc and perfused with modified Ringer's solution. Dialysate output from consecutive 5-min periods was injected into a high-performance liquid chromatograph and DA was measured using an electrochemical detector. Bilateral tactile stimulation of the back for 5 min significantly increased DA release in conscious and anesthetized animals. Increased DA release was observed by stimulation of the contralateral, but not ipsilateral, back. DA secretion was also increased with stimulation of the forelimb, hindlimb, and abdomen. These effects were abolished after lesioning the ventral tegmental area (VTA). In contrast, noxious stimulation (pinching) of these areas had no effect on DA secretion. In conclusion, innocuous mechanical stimulation of the skin increases DA release in the contralateral NAc via the VTA.