Electronic Skin - Sensors and Systems

276 Pages·2021·116.623 MB·English

by  Maurizio Valle, Ali Ibrahim

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
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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.
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• Integratedcircuitdevices
• Interconnects
• Insulators
• Organicmaterials
• Semiconductors
• Quantum-effectstructures
• Vacuumdevices
• Biomedicalelectronics
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• MEMS
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• Optoelectronics
• Photovoltaics
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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