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Functional mimicry of Ruffini receptors with Fiber Bragg Gratings and Deep Neural Networks enables a bio-inspired large-area tactile sensitive skin

arXiv

引用

arXiv 2022年

作者： Massari, Luca Fransvea, Giulia D’Abbraccio, Jessica Filosa, Mariangela Terruso, Giuseppe Aliperta, Andrea D’Alesio, Giacomo Zaltieri, Martina Schena, Emiliano Palermo, Eduardo Sinibaldi, Edoardo Oddo, Calogero Maria The BioRobotics Institute Polo Sant’Anna Valdera Scuola Superiore Sant’Anna Viale Rinaldo Piaggio 34 Pontedera 56025 Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa56127 Italy ARTES4.0 Competence Center on Advanced Robotics and enabling digital TEchnologies and Systems Pontedera 56025 Italy Research Unit of Measurements and Biomedical Instrumentation Department of Engineering Università Campus Bio-Medico di Roma Via Alvaro del Portillo 21 Roma00128 Italy Department of Mechanical and Aerospace Engineering Sapienza University of Rome Via Eudossiana 18 Roma00184 Italy Istituto Italiano di Tecnologia Via Morego 30 Genoa16163 Italy

Collaborative robots are expected to physically interact with humans in daily living and workplace, including industrial and healthcare settings. A related key enabling technology is tactile sensing, which currently requires addressing the outstanding scientific challenge to simultaneously detect contact location and intensity by means of soft conformable artificial skins adapting over large areas to the complex curved geometries of robot embodiments. In this work, the development of a large-area sensitive soft skin with a curved geometry is presented, allowing for robot total-body coverage through modular patches. The biomimetic skin consists of a soft polymeric matrix, resembling a human forearm, embedded with photonic Fiber Bragg Grating (FBG) transducers, which partially mimics Ruffini mechanoreceptor functionality with diffuse, overlapping receptive fields. A Convolutional Neural Network deep learning algorithm and a multigrid Neuron Integration Process were implemented to decode the FBG sensor outputs for inferring contact force magnitude and localization through the skin surface. Results achieved 35 mN (IQR = 56 mN) and 3.2 mm (IQR = 2.3 mm) median errors, for force and localization predictions, respectively. Demonstrations with an anthropomorphic arm pave the way towards AI-based integrated skins enabling safe human-robot cooperation via machine *** Codes 68T40 © 2022, CC BY.

关键词： Fiber Bragg gratings

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