Seamless integration of tactile sensors for cobots
- Author
- Remko Proesmans (UGent) and Francis wyffels (UGent)
- Organization
- Project
- Abstract
- The development of tactile sensing is expected to enhance robotic systems in handling complex objects like deformables or reflective materials. However, readily available industrial grippers generally lack tactile feedback, which has led researchers to develop their own tactile sensors, resulting in a wide range of sensor hardware. Reading data from these sensors poses an integration challenge: either external wires must be routed along the robotic arm, or a wireless processing unit has to be fixed to the robot, increasing its size. We have developed a microcontroller-based sensor readout solution that seamlessly integrates with Robotiq grippers. Our Arduino compatible design takes away a major part of the integration complexity of tactile sensors and can serve as a valuable accelerator of research in the field. Design files and installation instructions can be found at https://github.com/RemkoPr/airo-halberd.
Downloads
-
(...).pdf
- full text (Accepted manuscript)
- |
- UGent only
- |
- |
- 1.03 MB
Citation
Please use this url to cite or link to this publication: http://hdl.handle.net/1854/LU-01HCFERYKCV0Z3V4VXRQS74WJP
- MLA
- Proesmans, Remko, and Francis wyffels. “Seamless Integration of Tactile Sensors for Cobots.” RoboTac 2023 The 5th IEEE/RSJ International Workshop, Proceedings, arXiv, 2023, doi:10.48550/arXiv.2309.05792.
- APA
- Proesmans, R., & wyffels, F. (2023). Seamless integration of tactile sensors for cobots. RoboTac 2023 The 5th IEEE/RSJ International Workshop, Proceedings. Presented at the RoboTac 2023 The 5th IEEE/RSJ International Workshop, Detroit, Michigan, USA. https://doi.org/10.48550/arXiv.2309.05792
- Chicago author-date
- Proesmans, Remko, and Francis wyffels. 2023. “Seamless Integration of Tactile Sensors for Cobots.” In RoboTac 2023 The 5th IEEE/RSJ International Workshop, Proceedings. arXiv. https://doi.org/10.48550/arXiv.2309.05792.
- Chicago author-date (all authors)
- Proesmans, Remko, and Francis wyffels. 2023. “Seamless Integration of Tactile Sensors for Cobots.” In RoboTac 2023 The 5th IEEE/RSJ International Workshop, Proceedings. arXiv. doi:10.48550/arXiv.2309.05792.
- Vancouver
- 1.Proesmans R, wyffels F. Seamless integration of tactile sensors for cobots. In: RoboTac 2023 The 5th IEEE/RSJ International Workshop, Proceedings. arXiv; 2023.
- IEEE
- [1]R. Proesmans and F. wyffels, “Seamless integration of tactile sensors for cobots,” in RoboTac 2023 The 5th IEEE/RSJ International Workshop, Proceedings, Detroit, Michigan, USA, 2023.
@inproceedings{01HCFERYKCV0Z3V4VXRQS74WJP,
abstract = {{ The development of tactile sensing is expected to enhance robotic systems in
handling complex objects like deformables or reflective materials. However,
readily available industrial grippers generally lack tactile feedback, which
has led researchers to develop their own tactile sensors, resulting in a wide
range of sensor hardware. Reading data from these sensors poses an integration
challenge: either external wires must be routed along the robotic arm, or a
wireless processing unit has to be fixed to the robot, increasing its size. We
have developed a microcontroller-based sensor readout solution that seamlessly
integrates with Robotiq grippers. Our Arduino compatible design takes away a
major part of the integration complexity of tactile sensors and can serve as a
valuable accelerator of research in the field. Design files and installation
instructions can be found at https://github.com/RemkoPr/airo-halberd.
}},
author = {{Proesmans, Remko and wyffels, Francis}},
booktitle = {{RoboTac 2023 The 5th IEEE/RSJ International Workshop, Proceedings}},
language = {{eng}},
location = {{Detroit, Michigan, USA}},
publisher = {{arXiv}},
title = {{Seamless integration of tactile sensors for cobots}},
url = {{http://doi.org/10.48550/arXiv.2309.05792}},
year = {{2023}},
}
- Altmetric
- View in Altmetric