Multi-layer robot skin with embedded sensors and muscles

Soft artificial skin with embedded sensors and actuators is proposed for a crosscutting study of cognitive science on a facial expressive humanoid platform. This paper focuses on artificial muscles suitable for humanoid robots and prosthetic devices for safe human-robot interactions. Novel composite artificial skin consisting of sensors and twisted polymer actuators is proposed. The artificial skin is conformable to intricate geometries and includes protective layers, sensor layers, and actuation layers. Fluidic channels are included in the elastomeric skin to inject fluids in order to control actuator response time. The skin can be used to develop facially expressive humanoid robots or other soft robots. The humanoid robot can be used by computer scientists and other behavioral science personnel to test various algorithms, and to understand and develop more perfect humanoid robots with facial expression capability. The small-scale humanoid robots can also assist ongoing therapeutic treatment research with autistic children. The multilayer skin can be used for many soft robots enabling them to detect both temperature and pressure, while actuating the entire structure.

[1]  Cynthia Breazeal,et al.  A "somatic alphabet" approach to "sensitive skin" , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[2]  Giulio Sandini,et al.  An embedded artificial skin for humanoid robots , 2008, 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems.

[3]  Mari Velonaki,et al.  Interpretation of the modality of touch on an artificial arm covered with an EIT-based sensitive skin , 2012, Int. J. Robotics Res..

[4]  Hiroyuki Shinoda,et al.  Telemetric robot skin , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[5]  Giulio Sandini,et al.  Tactile Sensing—From Humans to Humanoids , 2010, IEEE Transactions on Robotics.

[6]  Yong-Lae Park,et al.  Design and Fabrication of Soft Artificial Skin Using Embedded Microchannels and Liquid Conductors , 2012, IEEE Sensors Journal.

[7]  Yonas Tadesse.  Electroactive polymer and shape memory alloy actuators in biomimetics and humanoids , 2013, Smart Structures.

[8]  Jay D. Humphrey,et al.  Review Paper: Continuum biomechanics of soft biological tissues , 2003, Proceedings of the Royal Society of London. Series A: Mathematical, Physical and Engineering Sciences.

[9]  Yoji Yamada,et al.  Highly soft viscoelastic robot skin with a contact object-location-sensing capability , 2005, IEEE Transactions on Industrial Electronics.

[10]  Ronald F. Gibson,et al.  A review of recent research on mechanics of multifunctional composite materials and structures , 2010 .

[11]  J. Lima,et al.  A large area force sensor for smart skin applications , 2002, Proceedings of IEEE Sensors.

[12]  Carter S. Haines,et al.  Artificial Muscles from Fishing Line and Sewing Thread , 2014, Science.

[13]  Yonas Tadesse,et al.  HBS-1: A Modular Child-Size 3D Printed Humanoid , 2016, Robotics.

[14]  Mark Lee,et al.  Review Article Tactile sensing for mechatronics—a state of the art survey , 1999 .

[15]  David Hanson,et al.  Piezoelectric Actuation and Sensing for Facial Robotics , 2006 .

[16]  Jong-Ho Kim,et al.  A silicon-based flexible tactile sensor for ubiquitous robot companion applications , 2006 .

[17]  David Hanson,et al.  Enhancement of EAP actuated facial expressions by designed chamber geometry in elastomers , 2006, SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring.

[18]  Nigel H. Lovell,et al.  A review of tactile sensing technologies with applications in biomedical engineering , 2012 .

[19]  Yonas Tadesse,et al.  Silicone based artificial skin for humanoid facial expressions , 2009, Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring.

[20]  Yonas Tadesse,et al.  Humanoid Face Utilizing Rotary Actuator and Piezoelectric Sensors , 2008 .

[21]  Carter S. Haines,et al.  Hydrogen-fuel-powered bell segments of biomimetic jellyfish , 2012 .

[22]  Giorgio Metta,et al.  Methods and Technologies for the Implementation of Large-Scale Robot Tactile Sensors , 2011, IEEE Transactions on Robotics.

[23]  Takao Someya,et al.  A large-area, flexible pressure sensor matrix with organic field-effect transistors for artificial skin applications. , 2004, Proceedings of the National Academy of Sciences of the United States of America.

[24]  Dan O. Popa,et al.  Physical human-robot interaction with a mobile manipulator through pressure sensitive robot skin , 2013, PETRA '13.

[25]  S. Priya,et al.  Tailoring the Response Time of Shape Memory Alloy Wires through Active Cooling and Pre-stress , 2010 .

[26]  T. Someya,et al.  Conformable, flexible, large-area networks of pressure and thermal sensors with organic transistor active matrixes. , 2005, Proceedings of the National Academy of Sciences of the United States of America.

[27]  Yonas Tadesse,et al.  Graphical Facial Expression Analysis and Design Method: An Approach to Determine Humanoid Skin Deformation , 2012 .

[28]  Dennis Hong,et al.  Twelve Degree of Freedom Baby Humanoid Head Using Shape Memory Alloy Actuators , 2011 .

[29]  Kaspar Althoefer,et al.  Tactile sensing for dexterous in-hand manipulation in robotics-A review , 2011 .

[30]  Jun-Ho Oh,et al.  Design of Android type Humanoid Robot Albert HUBO , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[31]  Yasuo Kuniyoshi,et al.  Conformable and scalable tactile sensor skin for curved surfaces , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[32]  K. R. Atkinson,et al.  Strong, Transparent, Multifunctional, Carbon Nanotube Sheets , 2005, Science.