Human Robot Interaction with 3D-Printed Whole Body Robotic Skin

Author

Fahad Mirza

Graduation Semester and Year

2016

Language

English

Document Type

Thesis

Degree Name

Master of Science in Electrical Engineering

Department

Mechanical and Aerospace Engineering

First Advisor

Dan Popa

Abstract

This thesis presents work of a newly developed pressure sensor for robot skin, from fabrication to application. Robot skin similar to human skin meant to have several sensing capabilities including pressure, temperature etc. As the conventional semiconductor manufacturing process is not adequate for multi-modal sensors, a new process, called Electro-Hydro-Dynamic Printing, has been explored in this work. A calibration technique was implemented along with printing parameter fixation by trial and error. A testing methodology was proposed to test these sensors and several commercial robots were used to conduct pHRI experiments with pressure sensing capability.

Keywords

Robot skin sensor arrays, Piezoresistive strain sensors, Electro-hydro-dynamic printing (EHD), PEDOT:PSS, Piezoresistive sensor array, Inkjet printing

Disciplines

Aerospace Engineering | Engineering | Mechanical Engineering

License

This work is licensed under a Creative Commons Attribution-NonCommercial-Share Alike 4.0 International License.

Comments

Degree granted by The University of Texas at Arlington

Recommended Citation

Mirza, Fahad, "Human Robot Interaction with 3D-Printed Whole Body Robotic Skin" (2016). Mechanical and Aerospace Engineering Theses. 698.
https://mavmatrix.uta.edu/mechaerospace_theses/698