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Barleanu A, Hulea M. Neuromorphic Sensor Based on Force-Sensing Resistors. Biomimetics (Basel) 2024; 9:326. [PMID: 38921206 PMCID: PMC11201614 DOI: 10.3390/biomimetics9060326] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/17/2024] [Revised: 05/24/2024] [Accepted: 05/26/2024] [Indexed: 06/27/2024] Open
Abstract
This work introduces a neuromorphic sensor (NS) based on force-sensing resistors (FSR) and spiking neurons for robotic systems. The proposed sensor integrates the FSR in the schematic of the spiking neuron in order to make the sensor generate spikes with a frequency that depends on the applied force. The performance of the proposed sensor is evaluated in the control of a SMA-actuated robotic finger by monitoring the force during a steady state when the finger pushes on a tweezer. For comparison purposes, we performed a similar evaluation when the SNN received input from a widely used compression load cell (CLC). The results show that the proposed FSR-based neuromorphic sensor has very good sensitivity to low forces and the function between the spiking rate and the applied force is continuous, with good variation range. However, when compared to the CLC, the response of the NS follows a logarithmic-like function with improved sensitivity for small forces. In addition, the power consumption of NS is 128 µW that is 270 times lower than that of the CLC which needs 3.5 mW to operate. These characteristics make the neuromorphic sensor with FSR suitable for bioinspired control of humanoid robotics, representing a low-power and low-cost alternative to the widely used sensors.
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Affiliation(s)
| | - Mircea Hulea
- Department of Computer Engineering, Gheorghe Asachi Technical University of Iasi, 700050 Iasi, Romania
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Wang T, Sun E, Zhu S. Contact force estimation of hydraulic soft bending actuators for gripping. Adv Robot 2021. [DOI: 10.1080/01691864.2021.1967779] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/20/2022]
Affiliation(s)
- Tao Wang
- Ocean College, Zhejiang University, Zhoushan, People’s Republic of China
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, People’s Republic of China
- Key Laboratory of Ocean Observation-Imaging Testbed of Zhejiang Province, Zhoushan, People’s Republic of China
- Engineering Research Center of Oceanic Sensing Technology and Equipment, Ministry of Education, Zhoushan, People’s Republic of China
| | - Enlai Sun
- Ocean College, Zhejiang University, Zhoushan, People’s Republic of China
| | - Shiqiang Zhu
- Ocean College, Zhejiang University, Zhoushan, People’s Republic of China
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Mitsuzuka M, Kinbara Y, Fukuhara M, Nakahara M, Nakano T, Takarada J, Wang Z, Mori Y, Kageoka M, Tawa T, Kawamura S, Tajitsu Y. Relationship between Photoelasticity of Polyurethane and Dielectric Anisotropy of Diisocyanate, and Application of High-Photoelasticity Polyurethane to Tactile Sensor for Robot Hands. Polymers (Basel) 2020; 13:polym13010143. [PMID: 33396439 PMCID: PMC7795569 DOI: 10.3390/polym13010143] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/15/2020] [Revised: 12/20/2020] [Accepted: 12/24/2020] [Indexed: 11/16/2022] Open
Abstract
Eight types of polyurethane were synthesized using seven types of diisocyanate. It was found that the elasto-optical constant depends on the concentration of diisocyanate groups in a unit volume of a polymer and the magnitude of anisotropy of the dielectric constant of diisocyanate groups. It was also found that incident light scattered when bending stress was generated inside photoelastic polyurethanes. A high sensitive tactile sensor for robot hands was devised using one of the developed polyurethanes with high photoelasticity.
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Affiliation(s)
- Masahiko Mitsuzuka
- Research Organization of Science and Technology, Ritsumeikan University, Kusatsu, Shiga 525-8577, Japan; (M.M.); (Z.W.)
| | - Yuho Kinbara
- Mitsui Chemicals, Inc., Tokyo 105-7122, Japan; (Y.K.); (M.N.); (T.N.); (M.K.); (T.T.)
| | - Mizuki Fukuhara
- Department of Robotics, Ritsumeikan University, Kusatsu, Shiga 525-8577, Japan; (M.F.); (Y.M.); (S.K.)
| | - Maki Nakahara
- Mitsui Chemicals, Inc., Tokyo 105-7122, Japan; (Y.K.); (M.N.); (T.N.); (M.K.); (T.T.)
| | - Takashi Nakano
- Mitsui Chemicals, Inc., Tokyo 105-7122, Japan; (Y.K.); (M.N.); (T.N.); (M.K.); (T.T.)
| | - Jun Takarada
- Electrical Engineering Department, Graduate School of Science and Engineering, Kansai University, Suita, Osaka 564-8680, Japan;
| | - Zhongkui Wang
- Research Organization of Science and Technology, Ritsumeikan University, Kusatsu, Shiga 525-8577, Japan; (M.M.); (Z.W.)
| | - Yoshiki Mori
- Department of Robotics, Ritsumeikan University, Kusatsu, Shiga 525-8577, Japan; (M.F.); (Y.M.); (S.K.)
| | - Masakazu Kageoka
- Mitsui Chemicals, Inc., Tokyo 105-7122, Japan; (Y.K.); (M.N.); (T.N.); (M.K.); (T.T.)
| | - Tsutomu Tawa
- Mitsui Chemicals, Inc., Tokyo 105-7122, Japan; (Y.K.); (M.N.); (T.N.); (M.K.); (T.T.)
| | - Sadao Kawamura
- Department of Robotics, Ritsumeikan University, Kusatsu, Shiga 525-8577, Japan; (M.F.); (Y.M.); (S.K.)
| | - Yoshiro Tajitsu
- Electrical Engineering Department, Graduate School of Science and Engineering, Kansai University, Suita, Osaka 564-8680, Japan;
- Correspondence: ; Tel.: +81-6-6368-1121
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Pirozzi S. Tactile Sensors for Robotic Applications. SENSORS 2020; 20:s20247009. [PMID: 33302388 PMCID: PMC7762590 DOI: 10.3390/s20247009] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Download PDF] [Subscribe] [Scholar Register] [Received: 11/19/2020] [Accepted: 11/30/2020] [Indexed: 02/06/2023]
Affiliation(s)
- Salvatore Pirozzi
- Dipartimento di Ingegneria, Università degli Studi della Campania "Luigi Vanvitelli", Via Roma, 29, 81031 Aversa (CE), Italy
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Yu C, Lindenroth L, Hu J, Back J, Abrahams G, Liu H. A Vision-Based Soft Somatosensory System for Distributed Pressure and Temperature Sensing. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2974649] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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