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BioIn-Tacto: A compliant multi-modal tactile sensing module for robotic tasks.
Alves de Oliveira, Thiago Eustaquio; Prado da Fonseca, Vinicius.
Afiliación
  • Alves de Oliveira TE; Department of Computer Science, Faculty of Science and Environmental Studies, Lakehead University, Canada.
  • Prado da Fonseca V; Department of Computer Science, Faculty of Science, Memorial University of Newfoundland, Canada.
HardwareX ; 16: e00478, 2023 Dec.
Article en En | MEDLINE | ID: mdl-37817880
ABSTRACT
We present the open-source design and fabrication of a compliant multimodal tactile sensing module. The sensing module design presented here enables robotic end-effectors to sense contact properties like pressure and vibration and estimate a quaternion that represents the deformation due to contact. We elaborated the module's compliant structure fabrication process to use only 3D printed molds and a vacuum chamber, making it accessible to a broad range of roboticists. The process also allows production batches of up to five modules and easy deployment to robotic hands. The repository associated contains packages that support the Robot Operating System (ROS) to perform data collection and visualization. All hardware Computer-Aided Design (CAD) files and software source codes have been released and can be easily assembled and modified. The sensing module proposed in this paper uses off-the-shelf Microelectromechanical (MEMs) barometers and Magnetic, Angular Rate and Gravity (MARG) systems. Those components may be replaced by alternatives depending on the sensor's availability, constraints related to the module's size, or robotic application without prejudice to sensor functionality.
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Texto completo: 1 Base de datos: MEDLINE Idioma: En Revista: HardwareX Año: 2023 Tipo del documento: Article País de afiliación: Canadá

Texto completo: 1 Base de datos: MEDLINE Idioma: En Revista: HardwareX Año: 2023 Tipo del documento: Article País de afiliación: Canadá