Active surface shaping for artificial skins

Active surface shaping for artificial skins

Abdi, Hamid, Asgari, Marzieh and Nahavandi, Saeid 2011, Active surface shaping for artificial skins, in SMC 2011 : Conference proceeding of the 2011 International Conference on Systems, Man, and Cybernetics, IEEE, [Anchorage, Alaska], pp. 2910-2915.

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Title	Active surface shaping for artificial skins
Author(s)	Abdi, Hamid Asgari, Marzieh Nahavandi, Saeid
Conference name	IEEE International Conference of Systems, Man, and Cybernetics (2011 : Anchorage, Alaska)
Conference location	Anchorage, Alaska
Conference dates	9-12 Oct. 2011
Title of proceedings	SMC 2011 : Conference proceeding of the 2011 International Conference on Systems, Man, and Cybernetics
Editor(s)	[Unknown]
Publication date	2011
Conference series	IEEE International Conference of Systems, Man, and Cybernetics
Start page	2910
End page	2915
Publisher	IEEE
Place of publication	[Anchorage, Alaska]
Keyword(s)	active control active surfaces anisotropic models artificial skin control purpose interactivity; matrix MEMS actuators natural skin physical interactions piecewise linear required time simulation studies static behaviors
Summary	Artificial skins exhibit different mechanical properties in compare to natural skins. This drawback makes physical interaction with artificial skins to be different from natural skin. Increasing the performance of the artificial skins for robotic hands and medical applications is addressed in the present paper. The idea is to add active controls within artificial skins in order to improve their dynamic or static behaviors. This directly results into more interactivity of the artificial skins. To achieve this goal, a piece-wise linear anisotropic model for artificial skins is derived. Then a model of matrix of capacitive MEMS actuators for the control purpose is coupled with the model of artificial skin. Next an active surface shaping control is applied through the control of the capacitive MEMS actuators which shapes the skin with zero error and in a desired time. A simulation study is presented to validate the idea of using MEMS actuator for active artificial skins. In the simulation, we actively control 128 capacitive micro actuators for an artificial fingertip. The fingertip provides the required shape in a required time which means the dynamics of the skin is improved.
ISBN	9781457706516 9781457706523
Language	eng
Field of Research	090602 Control Systems, Robotics and Automation
Socio Economic Objective	970109 Expanding Knowledge in Engineering
HERDC Research category	E1 Full written paper - refereed
Copyright notice	©2011, IEEE
Persistent URL	http://hdl.handle.net/10536/DRO/DU:30042221

Document type:	Conference Paper
Collection:	Centre for Intelligent Systems Research

Access Statistics:	48 Abstract Views, 3 File Downloads - Detailed Statistics
Created:	Tue, 14 Feb 2012, 15:18:50 EST

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