ArticleSensors (Basel, Switzerland)2021
Tactile Object Recognition for Humanoid Robots Using New Designed Piezoresistive Tactile Sensor and DCNN.
Article in Sensors (Basel, Switzerland), 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
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Who cites it
5 citing papers in PubMed.
- Robotics Perception and Control: Key Technologies and Applications.Micromachines · 2024Review
- Response Characteristics of Pressure-Sensitive Conductive Elastomer Sensors Using OFC Electrode with Triangular Wave Concavo-Convex Surfaces.Sensors (Basel, Switzerland) · 2024Article
- Effects of Sensing Tactile Arrays, Shear Force, and Proprioception of Robot on Texture Recognition.Sensors (Basel, Switzerland) · 2023Article
- Hardness-and-Type Recognition of Different Objects Based on a Novel Porous Graphene Flexible Tactile Sensor Array.Micromachines · 2023Article
- Optimization of electrode positions for equalizing local spatial performance of a tomographic tactile sensor.Frontiers in robotics and AI · 2023Article
Corrections and comments
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Authors and funding
2 authors.
Funding
Abstract
A tactile sensor array is a crucial component for applying physical sensors to a humanoid robot. This work focused on developing a palm-size tactile sensor array (56.0 mm × 56.0 mm) to apply object recognition for the humanoid robot hand. This sensor was based on a PCB technology operating with the piezoresistive principle. A conductive polymer composites sheet was used as a sensing element and the matrix array of this sensor was 16 × 16 pixels. The sensitivity of this sensor was evaluated and the sensor was installed on the robot hand. The tactile images, with resolution enhancement using bicubic interpolation obtained from 20 classes, were used to train and test 19 different DCNNs. InceptionResNetV2 provided superior performance with 91.82% accuracy. However, using the multimodal learning method that included InceptionResNetV2 and XceptionNet, the highest recognition rate of 92.73% was achieved. Moreover, this recognition rate improved when the object exploration was applied to demonstrate.
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Registered trials
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