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Energy Generating Electronic Skin With Intrinsic Tactile Sensing Without Touch Sensors
IEEE Transactions on Robotics ( IF 7.8 ) Pub Date : 2020-01-01 , DOI: 10.1109/tro.2020.3031264
Pablo Escobedo , Markellos Ntagios , Dhayalan Shakthivel , William T. Navaraj , Ravinder Dahiya

Electronic skin (eSkin) with various types of sensors over large conformable substrates has received considerable interest in robotics. The continuous operation of large number of sensors and the readout electronics make it challenging to meet the energy requirements of eSkin. In this article, we present the first energy generating eSkin with intrinsic tactile sensing without any touch sensor. The eSkin comprises a distributed array of miniaturized solar cells and infrared light emitting diodes (IRLEDs) on soft elastomeric substrate. By innovatively reading the variations in the energy output of the solar cells and IRLEDs, the eSkin could sense multiple parameters (proximity, object location, edge detection, etc.). As a proof of concept, the eSkin has been attached to a 3-D-printed hand. With an energy surplus of 383.6 mW from the palm area alone, the eSkin could generate more than 100 W if present over the whole body (area ∼1.5 m2). Further, with an industrial robot arm, the presented eSkin is shown to enable safe human−robot interaction. The novel paradigm presented in this article for the development of a flexible eSkin extends the application of solar cell from energy generation alone to simultaneously acting as touch sensors.

中文翻译:

具有内在触觉感应的能量生成电子皮肤,无需触摸传感器

在大型可贴合基板上具有各种类型传感器的电子皮肤 (eSkin) 引起了机器人技术的极大兴趣。大量传感器和读出电子设备的连续运行使得满足 eSkin 的能源需求具有挑战性。在本文中,我们展示了第一个具有内在触觉感应而没有任何触摸传感器的能量生成电子皮肤。eSkin 包括分布在柔软弹性基板上的微型太阳能电池和红外发光二极管 (IRLED) 阵列。通过创新地读取太阳能电池和 IRLED 能量输出的变化,eSkin 可以感知多个参数(接近度、物体位置、边缘检测等)。作为概念证明,eSkin 已附在 3D 打印的手上。仅手掌区域就有 383.6 mW 的能量盈余,如果整个身体(面积约 1.5 平方米)存在,eSkin 可以产生超过 100 W 的功率。此外,通过工业机器人手臂,展示的 eSkin 可以实现安全的人机交互。本文中提出的用于开发柔性电子皮肤的新范式将太阳能电池的应用从单独的能量产生扩展到同时充当触摸传感器。
更新日期:2020-01-01
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