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Active surface shaping for artificial skins
conference contribution
posted on 2011-01-01, 00:00 authored by Hamid AbdiHamid Abdi, Marzieh AsgariMarzieh Asgari, Saeid NahavandiArtificial 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.
History
Event
IEEE International Conference of Systems, Man, and Cybernetics (2011 : Anchorage, Alaska)Pagination
2910 - 2915Publisher
IEEELocation
Anchorage, AlaskaPlace of publication
[Anchorage, Alaska]Start date
2011-10-09End date
2011-10-12ISBN-13
9781457706523ISBN-10
1457706520Language
engPublication classification
E1 Full written paper - refereedCopyright notice
2011, IEEETitle of proceedings
SMC 2011 : Conference proceeding of the 2011 International Conference on Systems, Man, and CyberneticsUsage metrics
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No categories selectedKeywords
active controlactive surfacesanisotropic modelsartificial skincontrol purposeinteractivitymatrixMEMS actuatorsnatural skinphysical interactionspiecewise linearrequired timesimulation studiesstatic behaviorsScience & TechnologyTechnologyComputer Science, Artificial IntelligenceComputer Science, CyberneticsComputer Science, Information SystemsComputer ScienceACTUATOR
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