Resistor-Based Shape Sensor for a Spatial Flexible Manifold

Oded Medina; Amir Shapiro; Nir Shvalb

doi:10.1109/JSEN.2016.2619760

Resistor-Based Shape Sensor for a Spatial Flexible Manifold

Oded Medina, Amir Shapiro, Nir Shvalb

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

10 Scopus citations

Abstract

In robotics, knowing a mechanism's configuration is essential. Commonly, potentiometers or encoders are used in order to obtain the mechanism's configuration. Nevertheless, such sensors are useless for applications where a surface's spatial-shape is to be attained. For that end, we introduce a novel sensor mesh. We use an electrical-resistors grid as the shape sensor. The resistance in each grid segment changes with accordance to its length. So, by attaching the sensor mesh to an elastic grid, bending results with resistance change in the associated segments. For practical reasons, only the peripheral nodes are wired. We introduce an algorithm to extract the resistance of each of the segments. We then formulate the forward kinematics of elastic grid mechanisms which later on, we apply, in order to obtain an estimate for the surface shape. We exemplify our algorithm on a 40 resistors grid.

Original language	English
Article number	7604094
Pages (from-to)	46-50
Number of pages	5
Journal	IEEE Sensors Journal
Volume	17
Issue number	1
DOIs	https://doi.org/10.1109/JSEN.2016.2619760
State	Published - 1 Jan 2017

Keywords

Compressed sensing
electromechanical sensors
robot sensing systems
wearable sensors

ASJC Scopus subject areas

Instrumentation
Electrical and Electronic Engineering

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10.1109/JSEN.2016.2619760

Cite this

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abstract = "In robotics, knowing a mechanism's configuration is essential. Commonly, potentiometers or encoders are used in order to obtain the mechanism's configuration. Nevertheless, such sensors are useless for applications where a surface's spatial-shape is to be attained. For that end, we introduce a novel sensor mesh. We use an electrical-resistors grid as the shape sensor. The resistance in each grid segment changes with accordance to its length. So, by attaching the sensor mesh to an elastic grid, bending results with resistance change in the associated segments. For practical reasons, only the peripheral nodes are wired. We introduce an algorithm to extract the resistance of each of the segments. We then formulate the forward kinematics of elastic grid mechanisms which later on, we apply, in order to obtain an estimate for the surface shape. We exemplify our algorithm on a 40 resistors grid.",

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Resistor-Based Shape Sensor for a Spatial Flexible Manifold

Abstract

Keywords

ASJC Scopus subject areas

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