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.

Attached Files
Name Description MIMEType Size Downloads

Title Active surface shaping for artificial skins
Author(s) Abdi, HamidORCID iD for Abdi, Hamid orcid.org/0000-0001-6597-7136
Asgari, MarziehORCID iD for Asgari, Marzieh orcid.org/0000-0001-7183-7156
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
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
Total pages 6
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 1457706520
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

Connect to link resolver
 
Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved.

Versions
Version Filter Type
Citation counts: TR Web of Science Citation Count  Cited 2 times in TR Web of Science
Scopus Citation Count Cited 4 times in Scopus
Google Scholar Search Google Scholar
Access Statistics: 658 Abstract Views, 6 File Downloads  -  Detailed Statistics
Created: Tue, 14 Feb 2012, 15:18:50 EST

Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.