Skip to main content
SpringerLink
Log in

Fabrication of robot head module using contact-resistance force sensor for human-robot interaction and its evaluation

  • Published:
Journal of Mechanical Science and Technology Aims and scope Submit manuscript

Abstract

This paper presents a design of a robot head module with touch sensing algorithms that can simultaneously detect contact force and location. The module is constructed with a hemisphere and three sensor-units that are fabricated using contact-resistance force sensors. The surface-part is designed with the hemisphere that measures 300 mm in diameter and 150 mm in height. Placed at the bottom of the robot head module are three sensor-units fabricated using a simple screen printing technique. The contact force and the location of the model are evaluated through the calibration setup. The experiment showed that the calculated contact positions almost coincided with the applied load points as the contact location changed with a location error of about ±8.67 mm. The force responses of the module were evaluated at two points under loading and unloading conditions from 0 N to 5 N. The robot head module showed almost the same force responses at the two points.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. “AIBO” wikipedia.

  2. “Wakamaru” wikipedia.

  3. Pransky and Joanne, AIBO — the No. 1 selling service robot, J. The Industrial robot, 28(1) (2001) 24–26.

    Article  Google Scholar 

  4. I. W. Park, J. Y. Kim and B. K. Cho, Control hardware integration of a biped humanoid robot with an android head, J. Robotics and autonomous systems, 56(1) (2008) 95–103.

    Article  Google Scholar 

  5. A. Austermann and S. Yamada, Teaching a pet-robot to understand user feedback through interactive virtual training tasks, J. Autonomous agents and multi-agent systems, 20(1) (2009) 85–104.

    Article  Google Scholar 

  6. T. Minato, M. Shimada and H. Ishiguro, Development of an Android Robot for Studying Human-Robot Interaction, J. Lecture notes in computer science, 3029 (2004) 424–434.

    Article  Google Scholar 

  7. J. H. Kim, J. I. Lee, H.-J. Lee, Y. K. Park, M. S. Kim and D. I. Kang, Design of flexible tactile sensor based on three-component force and its fabrication, Proc. of IEEE Conf. on Robotics and Automation (2005) 2578–2581.

  8. J. H. Kim, W. C. Choi and H. J. Kwon, Development of tactile sensor with functions of contact force and thermal sensing for attachment to intelligent robot finger-tip, Proc. of IEEE Conf. on Sensors, Daegu, Korea (2006) 1468–1472.

  9. R. S. Dahiya, G. Metta, M. Valle and G. Sandini, Tactile sensing — from humans to humanoids, IEEE Transactions on Robotics, 26(1) (2010) 1–20.

    Article  Google Scholar 

  10. R. S. Dahiya, D. Cattin, A. Adami, C. Collini, L. Barboni, M. Valle, L. Lorenzelli, R. Oboe, G. Metta and F. Brunetti, Towards tactile sensing system on chip for robotic applications, IEEE Sensor Journal, 11(12) (2011) 3216–3226.

    Article  Google Scholar 

  11. H. Yousf, M. Boukallel and K. Althoefer, Tactile sensing for dexterous in-hand manipulation in robotics-A review, Sensors and Actuators A: Physical, 167(2) (2011) 171–187.

    Article  Google Scholar 

  12. H. Zhang and E. So, Hybrid resistive tactile sensing, IEEE Transactions Systems, Man, and Cybernetics.-Part B: Cybernetics, 32(1) (2002) 57–65.

    Article  MATH  Google Scholar 

  13. G. Cannata, R. S. Dahiya, M. Maggiali, F. Mastrogiovanni, G. Metta and M. Valle, Modular skin for humanoid robot systems, in Proc. 4thInt. Conf. on Cognitive Systems, Zurich, Switzerland (2010).

  14. R. S. Dahiya, G. Metta, M. Valle, L. Lorenzelli and A. Adami, Piezoelectricoxide semiconductor field effect transistor touch sensing devices, Applied Physics Letters, 95(3) (2009).

  15. J. H. Lee and C. H. Won, High resolution tactile imaging sensor using totalinternal reflection and non-rigid pattern matching algorithm, IEEESensors Journal, 11(9) (2011) 2084–2093.

    Article  Google Scholar 

  16. H. J. Kwon, Development of Contact Resistance Type Tactile Sensor and foot Module for Biped Walking Robots, Doctoral Dissertation, Kyung Hee University, Young-In, Korea (2009).

    Google Scholar 

  17. H. J. Kwon, J. H. Kim, D. K. Kim and Y. H. Kwon, Fabrication of four-point biped robot foot module based on contact-resistance force sensor and its evaluation, J. Mechanical Science and Technology, 25(2) (2011) 543–548.

    Article  Google Scholar 

  18. M. Shimojo, A. Namiki, M. Ishikawa, R. Makino and K. Mabuchi, Atactile sensor sheet using pressure conductive rubber with electricalwiresstitched method, IEEE Sensors Journal, 4(5) (2004) 589–596.

    Article  Google Scholar 

  19. H. C. Hua, S. Wang-Shen, H. Chih-Fan, L. Chia-Min, F. Weileun and Y. Fu-Liang, A flexible, highly-sensitive, and easily-fabricated carbonnanotubestactile sensor on polymer substrate, in Proc. 10th IEEEInt. Conf. on Solid-State Integr. Circuit Technol. (ICSICT), Shanghai, China (2010) 1388–1391.

  20. V. Maheshwari and R. F. Saraf, High-resolution thin-film device tosense texture by touch, Science, 312(5779) (2006) 1501–1504.

    Article  Google Scholar 

  21. S. C. B. Mannsfeld, B. C. K. Tee, R. M. Stoltenberg, C. V. H. H. Chen, S. Barman, B. V. O. Muir, A. N. Sokolov, C. Reese and Z. Bao, Highly sensitive flexible pressure sensors with microstructured rubberdielectric layers, Nature Materials, 9(10) (2010) 859–864.

    Article  Google Scholar 

  22. P. G. Slade, Electrical contacts Principles and Application, Markel Dekker Inc., New York, USA (1999).

    Google Scholar 

  23. R. Holm, Electrical contacts: theory and applications, Springer Science+Business Media, Berlin, Germany (1999).

    Google Scholar 

  24. Tomas V. Papakostas, Julian Lima, Mark Lowe, A Large Area Force Sensor for Smart Skin Applications, Proc. of IEEE Conf. on Sensors, (2002) 1620–1624.

  25. J. A. Greenwood and J. B. P. Williamson, Contact of nominally flat surfaces, Proc. of the Royal Society of London, Series A, Mathematical and Physical Sciences, 295(1442) (1966) 300–319.

    Article  Google Scholar 

  26. W. D. Pilkey, Formulas for Stress, Strain, and Structural Matrices, John Wiley & Sons, Inc., New York, USA (1994).

    MATH  Google Scholar 

  27. L. L. Bucciarelli, Engineering Mechanics for Structures, Dover Publications, Inc., Mineola, New York, USA (2009).

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Mechanical Metrology Center, Korea Reserch Institute of Standards and Science, 209 Gajeong-Ro, Yuseong-Gu, Daejeon, 305-340, Korea

    Dong-Ki Kim & Jong-Ho Kim

  2. Research Associate Departments of Kinesiology, University of Maryland, College Park, MD, 20742, USA

    Hyun-Joon Kwon

  3. College of Advanced Technology, Kyung Hee University, 1 Seochon-Ri, Gihung-Eup, 449-701, Gyunggi-Do, Korea

    Young-Ha Kwon

Authors
  1. Dong-Ki Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jong-Ho Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Hyun-Joon Kwon
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Young-Ha Kwon
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Jong-Ho Kim.

Additional information

Recommended by Associate Editor Sangyoon Lee

Dong-Ki Kim received his B.S. and M.S. degrees in Mechanical Engineering from Kyung Hee University, Yongin, Gyeonggi-Do, Korea in 2008 and 2010, respectively. He has been with the Korea Research Institute of Standards and Science since 2010. His current research interests include design and fabrication of tactile sensors for input devices and robots.

Jong-Ho Kim received his B.S. degree in Mechanical Engineering from Kyungpook National University, Daegu, Korea in 1992. He received his M.S. and Ph.D degrees in Mechanical Engineering from the Korea Advanced Institute of Science and Technology, Daejeon, Korea in 1994 and 2001, respectively. He has been with the Korea Research Institute of Standards and Science since 2001. His current research interest is the development, fabrication, and application of tactile sensors/actuators.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Kim, DK., Kim, JH., Kwon, HJ. et al. Fabrication of robot head module using contact-resistance force sensor for human-robot interaction and its evaluation. J Mech Sci Technol 26, 3269–3276 (2012). https://doi.org/10.1007/s12206-012-0808-6

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12206-012-0808-6

Keywords

Search

Navigation