Customizing Textile and Tactile Skins for Interactive Industrial Robots

Bo Ying Su; Zhongqi Wei; James McCann; Wenzhen Yuan; Changliu Liu

Customizing Textile and Tactile Skins for Interactive Industrial Robots

Robotics 2023-08-08 v1

Authors: Bo Ying Su , Zhongqi Wei , James McCann , Wenzhen Yuan , Changliu Liu

Abstract

Tactile skins made from textiles enhance robot-human interaction by localizing contact points and measuring contact forces. This paper presents a solution for rapidly fabricating, calibrating, and deploying these skins on industrial robot arms. The novel automated skin calibration procedure maps skin locations to robot geometry and calibrates contact force. Through experiments on a FANUC LR Mate 200id/7L industrial robot, we demonstrate that tactile skins made from textiles can be effectively used for human-robot interaction in industrial environments, and can provide unique opportunities in robot control and learning, making them a promising technology for enhancing robot perception and interaction.

Keywords

tactile sensing teleoperation haptic interaction

Cite

@article{arxiv.2308.03072,
  title  = {Customizing Textile and Tactile Skins for Interactive Industrial Robots},
  author = {Bo Ying Su and Zhongqi Wei and James McCann and Wenzhen Yuan and Changliu Liu},
  journal= {arXiv preprint arXiv:2308.03072},
  year   = {2023}
}

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