Progress on flexible tactile sensors in robotic applications on objects properties recognition, manipulation and human-machine interactions
External local properties can directly describe the characteristics of the contacted region between the tactile sensor and the target object, which can hardly be measured by vision and audio sensors. Specifically, if the object is entirely homogeneous or its size is less than a sensing unit, the local properties can be similarly equivalent to global properties., illustrates the commonly used exploring actions and response signals to detect external properties including surface texture, stiffness, thermal conductivity, and the attached chemical substance.
Abstract
The robotic with integrated tactile sensors can accurately perceive contact force, pressure, vibration, temperature and other tactile stimuli. Flexible tactile sensing technologies have been widely utilized in intelligent robotics for stable grasping, dexterous manipulation, object recognition and human-machine interaction. This review presents promising flexible tactile sensing technologies and their potential applications in robotics. The significance of robotic sensing and tactile sensing performance requirements are first described. The commonly used six types of sensing mechanisms of tactile sensors are briefly illustrated, followed by the progress of novel structural design and performance characteristics of several promising tactile sensors, such as highly sensitive pressure and tri-axis force sensor, flexible distributed sensor array, and multi-modal tactile sensor. Then, the applications of using tactile sensors in robotics such as object properties recognition, grasping and manipulation, and human-machine interactions are thoroughly discussed. Finally, the challenges and future prospects of robotic tactile sensing technologies are discussed. In summary, this review will be conducive to the novel design of flexible tactile sensors and is a heuristic for developing the next generation of intelligent robotics with advanced tactile sensing functions in the future.