Electronic hardware design of a low cost tactile sensor device for physical Human-Robot Interactions
Identifieur interne : 001246 ( Main/Exploration ); précédent : 001245; suivant : 001247Electronic hardware design of a low cost tactile sensor device for physical Human-Robot Interactions
Auteurs : Ganna Pugach [Ukraine] ; Viacheslav Khomenko [Ukraine] ; Alexandre Pitti [France] ; Artem Melnyk [Ukraine] ; Patrick Henaff [France] ; Philippe Gaussier [France]Source :
English descriptors
Abstract
We propose in this paper a low-cost method of Electrical Impedance Tomography (EIT) data acquisition from soft conductive fabric for the design of robots artificial skin. We use a simple multiplexer/demultiplexer circuit for retrieving the resistance field from the pair-wised electrical current injected and the output voltage measured from the conductive fabric. A microcontroller controls the current injection and voltage output patterns and the analog-to-numeric conversion from the tactile material. After explaining the EIT method, we present the electronics corresponding to the data acquisition and we analyze the material property. Results show that we can acquire and localize in real time spatial patterns of the tactile contact.
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We use a simple multiplexer/demultiplexer circuit for retrieving the resistance field from the pair-wised electrical current injected and the output voltage measured from the conductive fabric. A microcontroller controls the current injection and voltage output patterns and the analog-to-numeric conversion from the tactile material. After explaining the EIT method, we present the electronics corresponding to the data acquisition and we analyze the material property. Results show that we can acquire and localize in real time spatial patterns of the tactile contact.</div></front></TEI><affiliations><list><country><li>France</li><li>Ukraine</li></country><region><li>Grand Est</li><li>Lorraine (région)</li></region><settlement><li>Metz</li><li>Nancy</li></settlement><orgName><li>Université de Lorraine</li></orgName></list><tree><country name="Ukraine"><noRegion><name sortKey="Pugach, Ganna" sort="Pugach, Ganna" uniqKey="Pugach G" first="Ganna" last="Pugach">Ganna Pugach</name></noRegion><name sortKey="Khomenko, Viacheslav" sort="Khomenko, Viacheslav" uniqKey="Khomenko V" first="Viacheslav" last="Khomenko">Viacheslav Khomenko</name><name sortKey="Melnyk, Artem" sort="Melnyk, Artem" uniqKey="Melnyk A" first="Artem" last="Melnyk">Artem Melnyk</name></country><country name="France"><noRegion><name sortKey="Pitti, Alexandre" sort="Pitti, Alexandre" uniqKey="Pitti A" first="Alexandre" last="Pitti">Alexandre Pitti</name></noRegion><name sortKey="Gaussier, Philippe" sort="Gaussier, Philippe" uniqKey="Gaussier P" first="Philippe" last="Gaussier">Philippe Gaussier</name><name sortKey="Henaff, Patrick" sort="Henaff, Patrick" uniqKey="Henaff P" first="Patrick" last="Henaff">Patrick Henaff</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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