Embroidered Multi-Modal Sensing Arrays for Tactual Perception
Name
Foshey-mfoshey-sm-meche-2023-thesis.pdf
Description
Thesis PDF
Size
23.37 MB
Format
Adobe PDF
Checksum (MD5)
097b55761e24ec7b6b1fba5897e9016b
Author(s)
Foshey, Michael
Advisor(s)
Matusik, Wojciech
Date Issued
February 2023
Publisher
Massachusetts Institute of Technology
Abstract
Humans possess a peripheral nervous system that gives them the ability to sense and interpret tactile information, normal and shear force, and vibrations. This provides us with the ability to perceive changes in our surroundings and react to them, allowing us to complete complex tasks. Bestowing these sensory modalities to robotic systems would enable them to complete complex manipulation and assembly tasks that are trivial for humans. In this work, we present new types of robotic skins that give robots the ability to sense normal force, shear force, and vibration. Fabricated with a highly-automated manufacturing process, our sensing systems can be inexpensively manufactured. Furthermore, we can capture forces over a high range by employing multi-gain capturing techniques. We demonstrate our sensing systems capabilities by designing and fabricating a set of devices and utilizing them for human wearables and robotics applications.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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