Development of Robotic Skin with touch localization with warmth element

Project Title

Development of Robotic Skin with touch localization with warmth element

Project Area of Specialization RoboticsProject Summary

This project aims to make a successful prototype of “Robotic skin” that will be able to indicate the exact location of the touch and with warmth element to give human skin like feeling

Project Objectives

When the word skin comes into mind, we picture a thin epidermis that is created to protect what’s underneath. But what if the skin is not for protection rather to actuate your body’s movement? That when implemented on a robot, in essence, is the central idea of our project.
The sense of touch is of great importance to humans. It helps us to understand the handling of objects and learn about the environment. On the other side, robots which are anthropomorphic machines but generally unable to interact with humans/environment using their sense of touch. So, in this context, if we can develop an artificial skin with sense of touch for robots; this will enable them to interact in a human-like fashion.

The proposed methodology for implementing robotic skin is to make a patch that contains capacitive sensors. Capacitance of parallel plate capacitor changes when the distance between plates of capacitor change, is the basic principle of these capacitive sensors that are used. This change in capacitance is measured using the microcontroller. 

The robotic skin will also have warmth element just like human skin. For this purpose, a layer will be added which will contain a heating element. Temperature sensors will also be added to regulate the temperature of skin.

Therefore, we aim to develop robot's skin which is able to sense touch; resultantly, allowing the robots to stop/modify their motion. Moreover, we also aim to implement warmth in the proposed robotic skin.

Project Implementation Method

The proposed methodology for implementing robotic skin is to make a sensory arrangement that will contain the patches of capacitive sensors. The principle working of this project is based on the fact the capacitance of a parallel plate capacitor changes when the distance between the plates of capacitor changes. The whole patch of skin consists of sensory arrangement (small parts). Each small part is a triangular shaped parallel plate capacitor with a capacitance to digital converter (CDC) mounted to measure the change in capacitance as the distance between the plates changes when someone touches. Fig#1 shows a proposed picture of part.  It consists of a flexible PCB at bottom which acts as the plate of capacitor on which CDC is mounted. Then there is dielectric medium. The medium is chosen in such a way that we can get change in capacitance if the change in distance is very small.  Third layer is the second plate of capacitor which is connected to ground.

This is the construction of each part. Several parts will be connected to make the patch of the skin. The number of parts connected will depend on the size of patch connected together. A patch of robotic skin made using these chips in shown in 

These parts will help in localization of touch and provide the greater resolution. When someone touch the skin, the capacitance change will be measure by CDC and the information will be sent to the microcontroller. Each part will have its unique address that will help us to locate the exact place of touch. Fig#3 shows a schematic diagram of the data acquisition system used in the project.

Benefits of the Project

Nowadays, robots are being used in almost all the fields. Robots are being used to do tasks automatically with or without human assistance. It is necessary to ensure the safety of people that are working along with the robots. This safety can be ensured by two methods, First is that we keep ourselves at a safe distance from the working area of robot but in some cases, it is not possible due to complexity of the parts. Secondly, we can equip our robot with skin to give sense of contact.

             Sensitive synthetic skin enables robot to sense their own bodies and surroundings – a crucial capability if they are to be in close contact with the people. Like we know that the robots can exert huge forces that may cause fatal injury to a human being. And this is where it comes handy and provides the robot with a new “bodily sensation”.

“This might not be as important in industrial applications, but in areas such as nursing care, robots must be designed for very close contact with people.”

(Gordon Cheng)

            This project can be very beneficial in places where robots and humans are working together. It can tell the exact location of touch so we can know if the contact was made or not. It can help to control the contact forces of robots. With warmth element in the robotic skin, it will be as close as like human skin.

Technical Details of Final Deliverable

The final deliverable will be the implementation of a robotic skin with ability of localization of the touch by any object An element of warmth will also be added in it so that it will serve as a human skin.

Final Deliverable of the Project Hardware SystemCore Industry OthersOther IndustriesCore Technology RoboticsOther Technologies Wearables and ImplantablesSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	65000
ad7147	Equipment	20	850	17000
ttp223	Equipment	50	40	2000
beagle bone black	Equipment	1	15000	15000
Carbon Fiber	Equipment	4000	1	4000
PCB Manufacturing	Equipment	50	400	20000
thermocouples	Equipment	10	500	5000
Dielectric	Equipment	1	1000	1000
Prints	Miscellaneous	1	1000	1000