Costi, L;
Thuruthel, TG;
Iida, F;
(2021)
Topological study on the design of soft strain sensors for simultaneous multi-point contact localization.
In:
Proceedings of the IEEE 4th International Conference on Soft Robotics, RoboSoft 2021.
(pp. pp. 555-558).
Institute of Electrical and Electronics Engineers (IEEE)
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Abstract
Soft strain sensors have been widely used for the development of electronic skins both for robotic and wearable applications. To sense contact location on a wide surface, the standard methodology consists of square grids of strain fibers that are able to detect single contact points but fail to detect multiple ones simultaneously. To avoid such a problem, state-of-the-art technologies implement sequential sampling that isolates each sensing node, but at the cost of a lower sampling rate. This theoretical study proposes a design methodology for multi-touch detection for parallel processed grid-based strain sensors. The fundamental idea is to add diagonal grids of varying orientations on top of the standard architecture to achieve multi-touch detection. The maximum number of detectable points and the number of required strain fibers and the overall geometry of the sensor are studied along with the error introduced when trying to sense more contact points than designed for. Overall, compared with state-of-the-art design methodologies, our work provides a guideline for more efficient grid-based architectures that are able to simultaneously detect up to a fixed finite number of contact points.
| Type: | Proceedings paper |
|---|---|
| Title: | Topological study on the design of soft strain sensors for simultaneous multi-point contact localization |
| Event: | 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft) |
| Location: | New Haven, CT, USA |
| Dates: | 12th-16th April 2021 |
| ISBN-13: | 978-1-7281-7713-7/21 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/RoboSoft51838.2021.9479216 |
| Publisher version: | https://doi.org/10.1109/RoboSoft51838.2021.9479216 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher's terms and conditions. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10159257 |
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