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ThinkMind // SENSORDEVICES 2013, The Fourth International Conference on Sensor Device Technologies and Applications // View article sensordevices_2013_3_30_20184
Design and Characterization of the Seashell Effect Pretouch Sensor Integrated Into Robot Grippers
 Authors:
Liang-Ting Jiang
Joshua R. Smith Keywords: sensor; acoustic; proximity; non-contact; robotics; pretouch Abstract:
The paper presents a short range proximity pretouch sensor device based on the seashell effect inspired by the phenomenon of “hearing the sea” when a seashell is held to the ear. The acoustic theory, design consideration, and the quantitative characterizations of the sensor under different ambient sound conditions are studied. The sensor has a number of practical benefits compared to conventional sonar-based time of flight sensors: (1) easy sensor integration — the sound stimulus source and the detector do not need to be co-located; (2) short-time measurements are not required; (3) no multi-path effects. The sensors are designed and integrated into a robot’s gripper, which provides a new source of information for robotic manipulation that complements long range depth sensors and contact-based tactile sensors. Continuous object contour tracking using differential measurements with pairs of the new sensors (one in each robot’s fingertip) is demonstrated on objects with different material properties. Pages: 34 to 40 Copyright: Copyright (c) IARIA, 2013 Publication date: August 25, 2013 Published in: conference ISSN: 2308-3514 ISBN: 978-1-61208-297-4 Location: Barcelona, Spain Dates: from August 25, 2013 to August 31, 2013
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