Electronic Skin - Sensors and Systems

Cover Page
Electronic Skin: Sensors and Systems
Contents
Preface
Acknowledgement
List of Contributors
List of Figures
List of Tables
List of Abbreviations
1 Electronic Skin Systems
	1.1 Introduction
	1.2 Integration of E-skin in iCub Robot
		1.2.1 E-skin on iCub Fingertips
		1.2.2 E-skin on iCub Palm
		1.2.3 E-skin on the iCub Forearm
	1.3 E-skin in Telemanipulation: of the EU2020 TACTILITY Project
	1.4 E-skin in Upper Limb Prostheses
		1.4.1 Piezoelectric-based E-Skin
		1.4.2 Piezoresistive-based E-Skin
	1.5 Conclusion
	References
2 Artificial Tactile Sensing and Electronic-Skin Technologies
	2.1 Introduction
	2.2 SENSE of Touch
	2.3 Artificial Skin: Concept and Evolution
		2.3.1 Understanding the Human Skin Physiology
		2.3.2 Artificial Skins
	2.4 E-Skin Systems
		2.4.1 Transduction Mechanisms
		2.4.2 Tactile Sensing Applications: Robotic and Prosthetic Hands
			2.4.2.1 Tactile sensors in commercial robotic hands
			2.4.2.2 Tactile sensory systems in prosthetics hands
	2.5 Requirements and Challenges
	2.6 Conclusion and Perspectives
	References
3 Tactile Sensors for Smart Human–Object Interactions: Devices and Technologies
	3.1 Introduction
	3.2 Technologies and Devices
		3.2.1 Fabrication Technologies
		3.2.2 Tactile Sensor Devices
			3.2.2.1 Piezoresistive and resistive MEMS
			3.2.2.2 Capacitive
			3.2.2.3 Piezoelectric
			3.2.2.4 Other sensing techniques
			3.2.2.5 Recent trends
	3.3 Conclusions
	Acknowledgements
	References
4 Optical-based Technologies for Artificial Soft Tactile Sensing
	4.1 Introduction
	4.2 Optical-based Tactile Sensors
		4.2.1 Basic Optical Principles
		4.2.2 Pressure and Strain Optical Sensing
	4.3 Examples of Optical-based Tactile Sensors
		4.3.1 Single Optical Waveguide Sensor
		4.3.2 Bundle Optical Waveguide System
		4.3.3 Continuum Optical Waveguide Skin
	4.4 Signal Processing Approaches for Continuum Optical Waveguide Skins
		4.4.1 Analytical Methods
		4.4.2 Machine Learning Methods
		4.4.3 Case Study: Distributed Mechanical Sensing in a Soft Optical Skin
	4.5 Conclusion
	References
5 Physical Contact Localization with Artificial Intelligence and Large-Area Fiber Bragg Grating Tactile Sensors for Collaborative Biorobotics
	5.1 Introduction
	5.2 Materials and Methods
		5.2.1 FBG-based Sensing Skin
		5.2.2 Experimental Platform and Datasets
		5.2.3 Neural Network Structures
	5.3 Results
	5.4 Discussion and Conclusion
	References
6 Efficient Algorithms for Embedded Tactile Data Processing
	6.1 Introduction
	6.2 Tactile Data Processing Algorithms
		6.2.1 Data Preprocessing
		6.2.2 Classification and Regression
			6.2.2.1 Machine learning
			6.2.2.2 Deep learning
	6.3 Embedded Processing System
		6.3.1 Hardware Platforms
	6.4 Case Study: Touch Modality Classification
		6.4.1 Experimental Setup
		6.4.2 Implementation Details
	6.5 Conclusion
	References
7 Approximate Arithmetic Circuits for Energy Efficient Data Processing in Electronic Skin
	7.1 Introduction
	7.2 Approximate Computing for Low-Pass Fir Filters
	7.3 Approximate Filters for E-skin
	7.4 Approximate Computing for Embedded Machine Learning
		7.4.1 Approximate Arithmetic Circuits
		7.4.2 Approximate Memory
		7.4.3 Quantization
	7.5 Approximate Embedded Machine Learning for E-skin
		7.5.1 Tensorial Kernel Approach
		7.5.2 Coordinate Rotational Digital Computer Circuits
			7.5.2.1 CORDIC algorithm
			7.5.2.2 Approximate CORDIC implementation
		7.5.3 Singular Value Decomposition
			7.5.3.1 SVD algorithm
			7.5.3.2 Approximate SVD
	7.6 Discussion and Conclusion
	References
8 Optical Links for Sensor Data Communication Systems
	8.1 Introduction
	8.2 The Optical Communication Link: Principles, Data Coding, Architectures, and Devices
	8.3 Technical Solutions and Implementations of Optical Links
		8.3.1 Description of the Digital Architectures for the Coding and Decoding Processes of the Sensor Data
		8.3.2 Description of the Analogue Circuits for Sensor Signal Conditioning
	8.4 Examples of Applications of Optical Communication Links for Sensory Systems
		8.4.1 Optical Fiber Link for Prosthetics Developed by Discrete Commercial Components and Devices
		8.4.2 Optical Wireless Communication Integrated System for Implanted Biotelemetry Applications
	8.5 Conclusion
	References
9 Artificial Skin and Electrotactile Stimulation for Advanced Tactile Feedback in Myoelectric Prostheses
	9.1 Introduction
	9.2 High-Density Sensing and Stimulation
	9.3 Electronic Skin Systems for Prosthetics
		9.3.1 Biomimetic e-skins for Prosthetic Systems
		9.3.2 Sense of Touch in Prosthetics: Case Studies
		9.3.3 Conclusive Remarks
	9.4 Electrotactile Stimulation for Sensory Feedback
		9.4.1 Electrotactile Stimulation Hardware
		9.4.2 Multiarray Electrodes and Electrode/Skin Interface
		9.4.3 Electrotactile Feedback From Myoelectric Prostheses
	9.5 Discussion
	9.6 Conclusions
	References
Index
About the Editors
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