2026-09-22T04:13:30Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1501032023-04-01T03:58:34Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Matusik, Wojciech
Foshey, Michael
Massachusetts Institute of Technology. Department of Mechanical Engineering
2023-03-31T14:32:31Z
2023-03-31T14:32:31Z
2023-02
2023-03-01T20:01:53.147Z
https://hdl.handle.net/1721.1/150103
0000-0002-9047-8387
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.
S.M.
Massachusetts Institute of Technology
In Copyright - Educational Use Permitted
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http://rightsstatements.org/page/InC-EDU/1.0/
Embroidered Multi-Modal Sensing Arrays for Tactual Perception
Thesis
application/pdf
Master
Master of Science in Mechanical Engineering
Publication
unknown
unknown
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<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.</Abstract>
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