Tactile-Sensing Technologies: Trends, Challenges and Outlook in Agri-Food Manipulation
Abstract
:1. Introduction
- Context of tactile sensation research: We provide a comprehensive overview of tactile sensation technology in Section 2 and core algorithms in Section 3 that are used in robotics and automation research. This discussion offers a solid foundation and understanding of the current state-of-the-art technologies in the field.
- Tactile sensation in agri-food: Our review paper focuses on the application of tactile sensation research specifically in the agri-food domain, which has not been covered in other tactile sensation review papers. In Section 4, we present a concise and comprehensive examination of the current research on tactile sensation applied to various aspects of agri-food, highlighting its significance and potential impact.
- Systematic Review of Shortcomings and Challenges: We contribute a systematic review of the shortcomings and use case challenges associated with the developed tactile sensor technologies for agri-food use cases. This critical assessment, presented in Section 5, addresses an aspect that has been largely disregarded in other review papers on tactile sensors [43,44,45,46,47,48,49].
2. Tactile-Sensing Technologies
2.1. Transduction Methods
2.1.1. Resistive and Piezoresistive
2.1.2. Capacitive
2.1.3. Magnetic and Hall Effect
2.1.4. Piezoelectric
2.1.5. Electrical Impedance Tomography
2.1.6. Camera/Vision Based
2.1.7. Optic Fiber Based
2.1.8. Acoustics
2.1.9. Fluid Based
2.1.10. Triboelectric
2.1.11. Combination of Various Methods
2.2. Tactile Features
2.2.1. Contact Force
2.2.2. Contact Location
2.2.3. Contact Deformation
2.2.4. Other Features
2.3. Advancements in Tactile Sensing
2.3.1. Low-Cost Tactile-Sensing Techniques
2.3.2. Self-Powered Tactile Sensors
2.3.3. Anti-Microbial Feature of Tactile Sensors
Tactile Feature | Pr/Re | C | Cr | O | Ma | Pe | EIT | Ac | Tr | F | Com |
---|---|---|---|---|---|---|---|---|---|---|---|
Normal Force | [101] | [82,89,102,103,104] | [32,56,57,84] | [70,105,106] | [53,90] | - | - | [71,91] | [77] | [76] | [78] |
Shear Force | - | [82,87,104] | [84] | - | [53,90] | - | - | - | - | - | [78] |
Tangential Force | - | [89,103] | - | - | - | - | - | - | - | - | - |
Torque | - | [82,87] | [107] | - | [53] | - | - | - | - | - | [78] |
Pressure | [81,88,108,109] | [87] | - | - | - | [110] | [55] | - | [111,112] | - | [79,80] |
Vibration | - | - | - | - | - | - | - | - | - | [76] | [80] |
Contact Location | [101] | - | [58,63,64,84] | [70,105] | [90] | - | [55] | [75,91,93] | - | - | [78,80] |
Deformation/Object Shape/geometry | [101] | - | [59,62,65,68,107,113] | [17,114] | - | - | - | [71,72,74] | - | [115] | [80] |
Surface texture | - | - | [60,63,116] | [117] | - | - | - | - | [77] | [76] | - |
Pose/Orientation | - | - | [66,67] | - | - | - | - | - | - | - | - |
Temperature | - | - | - | - | - | - | - | [93] | - | - | [79] |
3. Tactile Sensors in Robotics and Automation
3.1. Food Item Feature Extraction
3.2. Food Item Gras**
3.3. Food Item Identification
3.4. Selective Harvesting Motion Planning and Control
3.5. Food Preparation and Kitchen Robotics
3.6. Summary
4. Applications of Tactile Sensors in Agri-Food
4.1. Force Control
4.2. Robotic Gras**
4.3. Slip Detection
4.4. Texture Recognition
4.5. Compliance Control
4.6. Object Recognition
4.7. Three-Dimensional Shape Reconstruction
4.8. Haptic Feedback
4.9. Object Pushing
4.10. Summary
5. Complexities Associated with Tactile Sensors
5.1. Tactile Feature Extraction
5.1.1. Geometric Features
5.1.2. Dynamic Features
5.1.3. Controller Features
5.2. Robot Controller
5.2.1. Grasp Control
5.2.2. Motion Planning
5.2.3. Learning from Demonstration
5.3. Sensor Fusion
5.4. Sensor Calibration
5.5. The Curse of Dimensionality
5.6. Hardware Integration and Scalibility
5.6.1. Rigid Links Grippers
5.6.2. Soft Grippers
5.6.3. Tactile Skin
6. Future Trends and Conclusions
Author Contributions
Funding
Conflicts of Interest
References
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Robot Task Type | Tactile Sensor Type | Cited Research |
---|---|---|
Robot Control Tasks | Force Control | [45,86,122,123,124,124] |
Robotic Gras** | [123,125,126,127,128,129,130,131,132,133] | |
Slip Detection | [123,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,149,150] | |
Object Pushing | [29,121,179] | |
Compliance Control | [163,164,165,166,167] | |
Haptic Feedback | [174,175,176,177,178] | |
Feature Extraction Tasks | Texture Recognition | [47,60,151,152,153,155,156,157,158,159,160,161,162] |
Object Recognition | [43,45,86,120,156,160,168,169,170,171,172] | |
3D Shape Reconstruction | [44,62,173] |
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Mandil, W.; Rajendran, V.; Nazari, K.; Ghalamzan-Esfahani, A. Tactile-Sensing Technologies: Trends, Challenges and Outlook in Agri-Food Manipulation. Sensors 2023, 23, 7362. https://doi.org/10.3390/s23177362
Mandil W, Rajendran V, Nazari K, Ghalamzan-Esfahani A. Tactile-Sensing Technologies: Trends, Challenges and Outlook in Agri-Food Manipulation. Sensors. 2023; 23(17):7362. https://doi.org/10.3390/s23177362
Chicago/Turabian StyleMandil, Willow, Vishnu Rajendran, Kiyanoush Nazari, and Amir Ghalamzan-Esfahani. 2023. "Tactile-Sensing Technologies: Trends, Challenges and Outlook in Agri-Food Manipulation" Sensors 23, no. 17: 7362. https://doi.org/10.3390/s23177362