Robotics Research Paper

Jul 4th, 2015
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IEEE TRANSACTIONS ON ROBOTICS, VOL. 26, NO. 1, FEBRUARY 20101Tactile SensingFrom Humans to HumanoidsRavinder S. Dahiya, Member, IEEE, Giorgio Metta, Maurizio Valle, Member, IEEE, and Giulio SandiniAbstractStarting from human sense of touch, this paperreviews the state of tactile sensing in robotics. The physiology,coding, and transferring tactile data and perceptual importanceof the sense of touch in humans are discussed. Following this,a number of design hints derived for robotic tactile sensing arepresented. Various technologies and transduction methods used toimprove the touch sense capability of robots are presented. Tactilesensing, focused to fingertips and hands until past decade or so, hasnow been extended to whole body, even though many issues remainopen. Trend and methods to develop tactile sensing arrays for various body sites are presented. Finally, various system issues thatkeep tactile sensing away from widespread utility are discussed.Index TermsCutaneous sensing, extrinsic sensing, humanoidrobots, robotic skin, tactile sensing, touch sensing system.I. INTRODUCTIONOBOTIC devices, limited to the structured environmentof manufacturing plants until few years ago, are slowlyentering into human life in one form or another. This has ledto emergence of interaction and learning issuesmore so forhumanoid robots. Humanoid robots, introduced as mechanicalknight by Leonardo da Vinci in 1495 A.D. [1], will eventuallyw

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