CushSense: Soft, Stretchable, and Comfortable Tactile-Sensing Skin for Physical Human-Robot Interaction
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arXiv
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| Auteurs principaux: | , , , , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866929336171364352 |
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| author | Xu, Boxin Zhong, Luoyan Zhang, Grace Liang, Xiaoyu Virtue, Diego Madan, Rishabh Bhattacharjee, Tapomayukh |
| author_facet | Xu, Boxin Zhong, Luoyan Zhang, Grace Liang, Xiaoyu Virtue, Diego Madan, Rishabh Bhattacharjee, Tapomayukh |
| contents | Whole-arm tactile feedback is crucial for robots to ensure safe physical interaction with their surroundings. This paper introduces CushSense, a fabric-based soft and stretchable tactile-sensing skin designed for physical human-robot interaction (pHRI) tasks such as robotic caregiving. Using stretchable fabric and hyper-elastic polymer, CushSense identifies contacts by monitoring capacitive changes due to skin deformation. CushSense is cost-effective ($\sim$US\$7 per taxel) and easy to fabricate. We detail the sensor design and fabrication process and perform characterization, highlighting its high sensing accuracy (relative error of 0.58%) and durability (0.054% accuracy drop after 1000 interactions). We also present a user study underscoring its perceived safety and comfort for the assistive task of limb manipulation. We open source all sensor-related resources on https://emprise.cs.cornell.edu/cushsense. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_03155 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | CushSense: Soft, Stretchable, and Comfortable Tactile-Sensing Skin for Physical Human-Robot Interaction Xu, Boxin Zhong, Luoyan Zhang, Grace Liang, Xiaoyu Virtue, Diego Madan, Rishabh Bhattacharjee, Tapomayukh Robotics Whole-arm tactile feedback is crucial for robots to ensure safe physical interaction with their surroundings. This paper introduces CushSense, a fabric-based soft and stretchable tactile-sensing skin designed for physical human-robot interaction (pHRI) tasks such as robotic caregiving. Using stretchable fabric and hyper-elastic polymer, CushSense identifies contacts by monitoring capacitive changes due to skin deformation. CushSense is cost-effective ($\sim$US\$7 per taxel) and easy to fabricate. We detail the sensor design and fabrication process and perform characterization, highlighting its high sensing accuracy (relative error of 0.58%) and durability (0.054% accuracy drop after 1000 interactions). We also present a user study underscoring its perceived safety and comfort for the assistive task of limb manipulation. We open source all sensor-related resources on https://emprise.cs.cornell.edu/cushsense. |
| title | CushSense: Soft, Stretchable, and Comfortable Tactile-Sensing Skin for Physical Human-Robot Interaction |
| topic | Robotics |
| url | https://arxiv.org/abs/2405.03155 |