skip to main content
OSTI.GOV title logo U.S. Department of Energy
Office of Scientific and Technical Information

Title: Integrated Force and Distance Sensing using Elastomer-Embedded Commodity Proximity Sensors.

Abstract

We describe a combined proximity, contact and force (PCF) sensor based on a commodity infrared distance sensor embedded in a transparent elastomer with applications in robotic manipulation. Prior to contact, the sensor works as a distance sensor (0{6 cm), whereas after contact the material doubles as a spring, with force proportional to the compression of the elastomer (0{5 N). We describe its principle of operation and design parameters, including polymer thickness, mixing ratio, and emitter current, and show that the sensor response has an in ection point at contact that is independent of an object's surface properties, making it a robust detector for contact events. We then demonstrate how arrays of sensors, custom made for a standard Baxter gripper as well as embedded in the nger of the Kinova hand, can be used to (1) improve gripper alignment during grasping, (2) determine contact points with objects, (3) obtain simple 3D models using both proximity and touch, and (4) register point clouds from touch and RGB-D data.

Authors:
 [1];  [1];  [1]
  1. Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
Publication Date:
Research Org.:
Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
Sponsoring Org.:
USDOE National Nuclear Security Administration (NNSA)
OSTI Identifier:
1429737
Report Number(s):
SAND-2017-1719J
654186
DOE Contract Number:  
AC04-94AL85000
Resource Type:
Program Document
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; Robotic Grasping; Manipulation; Dynamic force sensing; PCF-sensor

Citation Formats

Patel, Radhen, Cox, Rebecca E., and Correll, Nikolaus. Integrated Force and Distance Sensing using Elastomer-Embedded Commodity Proximity Sensors.. United States: N. p., 2017. Web.
Patel, Radhen, Cox, Rebecca E., & Correll, Nikolaus. Integrated Force and Distance Sensing using Elastomer-Embedded Commodity Proximity Sensors.. United States.
Patel, Radhen, Cox, Rebecca E., and Correll, Nikolaus. Wed . "Integrated Force and Distance Sensing using Elastomer-Embedded Commodity Proximity Sensors.". United States. doi:. https://www.osti.gov/servlets/purl/1429737.
@article{osti_1429737,
title = {Integrated Force and Distance Sensing using Elastomer-Embedded Commodity Proximity Sensors.},
author = {Patel, Radhen and Cox, Rebecca E. and Correll, Nikolaus},
abstractNote = {We describe a combined proximity, contact and force (PCF) sensor based on a commodity infrared distance sensor embedded in a transparent elastomer with applications in robotic manipulation. Prior to contact, the sensor works as a distance sensor (0{6 cm), whereas after contact the material doubles as a spring, with force proportional to the compression of the elastomer (0{5 N). We describe its principle of operation and design parameters, including polymer thickness, mixing ratio, and emitter current, and show that the sensor response has an in ection point at contact that is independent of an object's surface properties, making it a robust detector for contact events. We then demonstrate how arrays of sensors, custom made for a standard Baxter gripper as well as embedded in the nger of the Kinova hand, can be used to (1) improve gripper alignment during grasping, (2) determine contact points with objects, (3) obtain simple 3D models using both proximity and touch, and (4) register point clouds from touch and RGB-D data.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Wed Feb 01 00:00:00 EST 2017},
month = {Wed Feb 01 00:00:00 EST 2017}
}

Program Document:
Other availability
Please see Document Availability for additional information on obtaining the full-text document. Library patrons may search WorldCat to identify libraries that may hold this item.

Save / Share: