Electronic Skin - Sensors and Systems PDF
Preview Electronic Skin - Sensors and Systems
River Publishers Series in Electronic Materials and Devices E L E ELECTRONIC SKIN: SENSORS AND SYSTEMS C T R O N IC Ali Ibrahim and Maurizio Valle (Editors) S K IN : S EN ELECTRONIC SKIN: SENSORS AND SYSTEMS S Considerable amount of effort has been devoted, over the recent years, towards O R the development of electronic skin (e-skin) for many application domains such S A as prosthetics, robotics, and industrial automation. N D Ali Ibrahim and Maurizio Valle (Editors) S Electronic Skin: Sensors and Systems focuses on the main components Y S constituting the e-skin system. The e-skin system is based on: i) sensing T E M materials composing the tactile sensor array, ii) the front end electronics for S data acquisition and signal conditioning, iii) the embedded processing unit performing tactile data decoding, and iv) the communication interface in charge of transmitting the sensors data for further computing. Technical topics discussed in the book include: A • Tactile sensing material li Ib • Electronic Skin systems r a h • Embedded computing and tactile data decoding im • Communication systems for tactile data transmission a n • Relevant applications of e-skin system d M a u The book takes into account not only sensing materials but it also provides a r iz thorough assessment of the current state of the art at system level. The book io V addresses embedded electronics and tactile data processing and decoding, a techniques for low power embedded computing, and the communication lle (E interface. d ito r Electronic Skin: Sensors and Systems is ideal for researchers, Ph.D. students, s ) academic staff and Masters/research students in sensors/sensing systems, embedded systems, data processing and decoding, and communication systems. River Electronic Skin: Sensors and Systems RIVER PUBLISHERS SERIES IN ELECTRONIC MATERIALS AND DEVICES SeriesEditors: EDOARDOCHARBON MIKAELO¨STLING EPFL KTHStockholm Switzerland Sweden ALBERTWANG UniversityofCalifornia Riverside,USA Indexing:allbookspublishedinthisseriesaresubmittedtotheWebofScienceBookCitation Index(BkCI),toSCOPUS,toCrossRefandtoGoogleScholarforevaluationandindexing The “River Publishers Series in Electronic Materials and Devices” is a series of compre- hensive academic and professional books which focus on the theory and applications of advanced electronic materials and devices. The series focuses on topics ranging from the theory,modeling,devices,performanceandreliabilityofelectronandionintegratedcircuit devicesandinterconnects,insulators,metals,organicmaterials,micro-plasmas,semiconduc- tors, quantum-effect structures, vacuum devices, and emerging materials. Applications of devicesinbiomedicalelectronics,computation,communications,displays,MEMS,imaging, micro-actuators,nanoelectronics,optoelectronics,photovoltaics,powerICsandmicro-sensors arealsocovered. Bookspublishedintheseriesincluderesearchmonographs,editedvolumes,handbooks andtextbooks.Thebooksprovideprofessionals,researchers,educators,andadvancedstudents inthefieldwithaninvaluableinsightintothelatestresearchanddevelopments. Topicscoveredintheseriesinclude,butarebynomeansrestrictedtothefollowing: • Integratedcircuitdevices • Interconnects • Insulators • Organicmaterials • Semiconductors • Quantum-effectstructures • Vacuumdevices • Biomedicalelectronics • Displaysandimaging • MEMS • Sensorsandactuators • Nanoelectronics • Optoelectronics • Photovoltaics • PowerICs Foralistofotherbooksinthisseries,visitwww.riverpublishers.com Electronic Skin: Sensors and Systems Editors Ali Ibrahim UniversityofGenoa,Italy LebaneseInternationalUniversity,Lebanon Maurizio Valle UniversityofGenoa,Italy River Publishers Published,soldanddistributedby: RiverPublishers Alsbjergvej10 9260Gistrup Denmark www.riverpublishers.com ISBN:978-87-7022-216-7(Hardback) 978-87-7022-215-0(Ebook) ©2020RiverPublishers Allrightsreserved.Nopartofthispublicationmaybereproduced,storedin aretrievalsystem,ortransmittedinanyformorbyanymeans,mechanical, photocopying,recordingorotherwise,withoutpriorwrittenpermissionof thepublishers. Contents Preface xi Acknowledgement xv ListofContributors xvii ListofFigures xxi ListofTables xxix ListofAbbreviations xxxi 1 ElectronicSkinSystems 1 AliIbrahimandMaurizioValle 1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 IntegrationofE-skininiCubRobot . . . . . . . . . . . . . 3 1.2.1 E-skinoniCubFingertips . . . . . . . . . . . . . 3 1.2.2 E-skinoniCubPalm . . . . . . . . . . . . . . . . 4 1.2.3 E-skinontheiCubForearm . . . . . . . . . . . . 4 1.3 E-skin in Telemanipulation: Of the EU2020 TACTILITY Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.4 E-skininUpperLimbProstheses . . . . . . . . . . . . . . 7 1.4.1 Piezoelectric-BasedE-Skin . . . . . . . . . . . . . 8 1.4.2 Piezoresistive-BasedE-Skin . . . . . . . . . . . . 8 1.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . 10 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 v vi Contents 2 ArtificialTactileSensingandElectronic-SkinTechnologies 13 HodaFaresandMaurizioValle 2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.2 SENSEofTouch . . . . . . . . . . . . . . . . . . . . . . . 14 2.3 ArtificialSkin:ConceptandEvolution . . . . . . . . . . . . 15 2.3.1 UnderstandingtheHumanSkinPhysiology . . . . 15 2.3.2 ArtificialSkins . . . . . . . . . . . . . . . . . . . 20 2.4 E-SkinSystems . . . . . . . . . . . . . . . . . . . . . . . . 24 2.4.1 TransductionMechanisms . . . . . . . . . . . . . 26 2.4.2 Tactile Sensing Applications: Robotic and Pros- theticHands. . . . . . . . . . . . . . . . . . . . . 30 2.4.2.1 Tactilesensorsincommercialrobotic hands . . . . . . . . . . . . . . . . . . . 30 2.4.2.2 Tactilesensorysystemsinprosthetics hands . . . . . . . . . . . . . . . . . . . 32 2.5 RequirementsandChallenges . . . . . . . . . . . . . . . . 33 2.6 ConclusionandPerspectives . . . . . . . . . . . . . . . . . 34 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 3 TactileSensorsforSmartHuman–ObjectInteractions:Devices andTechnologies 47 AndreaAdamiandLeandroLorenzelli 3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 47 3.2 TechnologiesandDevices . . . . . . . . . . . . . . . . . . 51 3.2.1 FabricationTechnologies . . . . . . . . . . . . . . 51 3.2.2 TactileSensorDevices . . . . . . . . . . . . . . . 54 3.2.2.1 PiezoresistiveandresistiveMEMS . . . 54 3.2.2.2 Capacitive . . . . . . . . . . . . . . . . 57 3.2.2.3 Piezoelectric . . . . . . . . . . . . . . . 60 3.2.2.4 Othersensingtechniques . . . . . . . . 62 3.2.2.5 Recenttrends . . . . . . . . . . . . . . 63 3.3 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Acknowledgements . . . . . . . . . . . . . . . . . . . . . . . . . 65 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 4 Optical-basedTechnologiesforArtificialSoftTactileSensing 73 MatteoLoPreti,MassimoTotaro,EgidioFaloticoandLuciaBeccai 4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 74 4.2 Optical-basedTactileSensors . . . . . . . . . . . . . . . . 75 Contents vii 4.2.1 BasicOpticalPrinciples . . . . . . . . . . . . . . 76 4.2.2 PressureandStrainOpticalSensing . . . . . . . . 77 4.3 ExamplesofOptical-basedTactileSensors . . . . . . . . . 80 4.3.1 SingleOpticalWaveguideSensor . . . . . . . . . 80 4.3.2 BundleOpticalWaveguideSystem . . . . . . . . . 82 4.3.3 ContinuumOpticalWaveguideSkin . . . . . . . . 84 4.4 SignalProcessingApproachesforContinuumOptical WaveguideSkins . . . . . . . . . . . . . . . . . . . . . . . 85 4.4.1 AnalyticalMethods . . . . . . . . . . . . . . . . . 86 4.4.2 MachineLearningMethods . . . . . . . . . . . . 87 4.4.3 Case Study: Distributed Mechanical Sensing in a SoftOpticalSkin . . . . . . . . . . . . . . . . . . 91 4.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . 94 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 5 PhysicalContactLocalizationwithArtificialIntelligence andLarge-AreaFiberBraggGratingTactileSensors forCollaborativeBiorobotics 101 Tama´sCzimmermann,LucaMassari,JessicaD’Abbraccio, GiuseppeTerruso,MartinaZaltieri,GiuliaFransvea, AndreaAliperta,EduardoPalermo,EmilianoSchena, EdoardoSinibaldiandCalogeroMariaOddo 5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 102 5.2 MaterialsandMethods . . . . . . . . . . . . . . . . . . . . 102 5.2.1 FBG-basedSensingSkin . . . . . . . . . . . . . . 103 5.2.2 ExperimentalPlatformandDatasets . . . . . . . . 104 5.2.3 NeuralNetworkStructures . . . . . . . . . . . . . 107 5.3 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 5.4 DiscussionandConclusion . . . . . . . . . . . . . . . . . . 110 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 6 EfficientAlgorithmsforEmbeddedTactileDataProcessing 113 HamoudYounes,MohamadAlameh,AliIbrahim,MostafaRizk andMaurizioValle 6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 113 6.2 TactileDataProcessingAlgorithms . . . . . . . . . . . . . 115 6.2.1 DataPreprocessing . . . . . . . . . . . . . . . . . 115 6.2.2 ClassificationandRegression . . . . . . . . . . . 117 6.2.2.1 Machinelearning . . . . . . . . . . . . 117 viii Contents 6.2.2.2 Deeplearning . . . . . . . . . . . . . . 123 6.3 EmbeddedProcessingSystem . . . . . . . . . . . . . . . . 124 6.3.1 HardwarePlatforms . . . . . . . . . . . . . . . . 124 6.4 CaseStudy:TouchModalityClassification . . . . . . . . . 128 6.4.1 ExperimentalSetup . . . . . . . . . . . . . . . . . 129 6.4.2 ImplementationDetails . . . . . . . . . . . . . . . 130 6.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . 131 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 7 Approximate Arithmetic Circuits for Energy Efficient Data ProcessinginElectronicSkin 139 MarioOsta,AliIbrahimandMaurizioValle 7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 139 7.2 ApproximateComputingforLow-PassFirFilters . . . . . . 141 7.3 ApproximateFiltersforE-skin . . . . . . . . . . . . . . . . 143 7.4 ApproximateComputingforEmbeddedMachine Learning . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 7.4.1 ApproximateArithmeticCircuits. . . . . . . . . . 144 7.4.2 ApproximateMemory . . . . . . . . . . . . . . . 146 7.4.3 Quantization . . . . . . . . . . . . . . . . . . . . 147 7.5 ApproximateEmbeddedMachineLearningforE-skin . . . 147 7.5.1 TensorialKernelApproach . . . . . . . . . . . . . 148 7.5.2 CoordinateRotationalDigitalComputerCircuits . 148 7.5.2.1 CORDICalgorithm . . . . . . . . . . . 149 7.5.2.2 ApproximateCORDIC implementation . . . . . . . . . . . . . 149 7.5.3 SingularValueDecomposition . . . . . . . . . . . 151 7.5.3.1 SVDalgorithm . . . . . . . . . . . . . . 151 7.5.3.2 ApproximateSVD . . . . . . . . . . . . 152 7.6 DiscussionandConclusion . . . . . . . . . . . . . . . . . . 154 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155 8 OpticalLinksforSensorDataCommunicationSystems 163 AndreaDeMarcellis,EliaPalange,GuidoDiPatrizioStanchieri andMarcoFaccio 8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 164 8.2 The Optical Communication Link: Principles, Data Coding, Architectures,andDevices . . . . . . . . . . . . . . . . . . 167 8.3 TechnicalSolutionsandImplementationsofOpticalLinks . 169 Contents ix 8.3.1 Description of the Digital Architectures for the CodingandDecodingProcessesoftheSensorData 170 8.3.2 Description of the Analogue Circuits for Sensor SignalConditioning . . . . . . . . . . . . . . . . 176 8.4 Examples of Applications of Optical Communication Links forSensorySystems . . . . . . . . . . . . . . . . . . . . . 179 8.4.1 Optical Fiber Link for Prosthetics Developed by DiscreteCommercialComponentsandDevices . . 179 8.4.2 OpticalWirelessCommunicationIntegrated SystemforImplantedBiotelemetryApplications . 182 8.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . 187 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188 9 ArtificialSkinandElectrotactileStimulationfor AdvancedTactileFeedbackinMyoelectricProstheses 197 LuciaSeminara,MatijaStrbac,YoussefAmin,MaurizioValle andStrahinjaDosen 9.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 198 9.2 High-DensitySensingandStimulation . . . . . . . . . . . . 200 9.3 ElectronicSkinSystemsforProsthetics . . . . . . . . . . . 203 9.3.1 Biomimetice-skinsforProstheticSystems . . . . 203 9.3.2 SenseofTouchinProsthetics:CaseStudies . . . . 212 9.3.3 ConclusiveRemarks . . . . . . . . . . . . . . . . 218 9.4 ElectrotactileStimulationforSensoryFeedback . . . . . . . 219 9.4.1 ElectrotactileStimulationHardware . . . . . . . . 219 9.4.2 MultiarrayElectrodesandElectrode/Skin Interface. . . . . . . . . . . . . . . . . . . . . . . 221 9.4.3 ElectrotactileFeedbackFromMyoelectric Prostheses . . . . . . . . . . . . . . . . . . . . . . 222 9.5 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . 224 9.6 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . 227 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228 Index 237 AbouttheEditors 239
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