In this paper, we discuss and speculate about the concept of the Tactile Robot connected with human operators via smart wearables as an essential multimodal embodiment of the coming Tactile Internet. The Tactile Robot, succeeding the recently introduced kinesthetic soft robot, is the upcoming next step in the evolution of rapidly developing robotic platforms that are capable of sensitive physical interaction with their environment. From the combination of rich tactile feedback with state-of-the-art robotics, technology, and algorithms emerge the potential of a meaningful and immersive connection to human operators via the vastly progressing smart wearables and virtual reality/augmented reality devices, effectively creating real-world avatars. Moreover, the Tactile Internet is believed to make it possible to create avatar collectives spanning different application domains and, therefore, cover heterogeneous robotic platforms. We hypothesize that this development will enable us to seamlessly interact with heterogeneous systems such as industrial assembly lines, service robots, automated medical units, or even deep sea and space exploration units. This new paradigm of an immersive coexistence between humans and robots builds on numerous technological advances in robotics, multimodal teleoperation, wearable technology, distributed computing, or network technology, for example. However, such a vision obviously poses major challenges in multiple areas that are still to be overcome. In this paper, we discuss the potentials and enabling technologies together with foreseeable application domains in the framework of the Tactile Internet. Furthermore, we address major challenges and hypothesize about potential solutions.

Tactile Robots as a Central Embodiment of the Tactile Internet

The accuracy of the force–torque sensors generally decreases with time under standard operating conditions. Therefore, periodic calibration for force–torque sensors is necessary. Specialized devices or subsidiary sensors are required during the traditional calibration process which bring in external measurement errors. In this article, an in situ calibration method is proposed to calibrate the force–torque sensor with a single standard mass to generate expected wrenches of the sensor during some arbitrary robot poses. Since the tilt of the mounting base of the robot can affect the direction of the gravity expressed with respect to the sensor frame, we first derive a model to express the relationship between the raw measurements and the expected wrenches under the influence of the tilted base, and then introduce subspaces and take advantage of projection and Rayleigh quotient to obtain the calibration matrix and angles of tilting simultaneously. The proposed algorithm is validated on simulation and the industrial automation (ATI) force–torque sensor. The results show that the proposed method is more cost-effective and reliable than existing technologies.

In Situ Calibration of Six-Axis Force–Torque Sensors for Industrial Robots With Tilting Base

2020 Index IEEE Transactions on Plasma Science Vol. 48

The artificial intelligence technology has achieved great progress recently and has potential in the applications of military, intelligent industry, transportation and logistics, intelligent security check, national security, biomedicine, intelligent agriculture, intelligent services, and so on. Human-like sensor and algorithm are two pillars of artificial intelligence technology, corresponding to the ‘senses’ and ‘brains’ of intelligent machines, respectively. Based on traditional sensor technology, the artificial intelligence human-like sensor combines the novel complementary metal oxide semiconductor (CMOS), micro-electro-mechanical systems (MEMS), nanotechnology, big data and cloud computing, Internet technology, and so on, leading to the great improvement of the sensors performance. In this paper, the artificial intelligence human perception is divided into five categories: vision, hearing, smell, taste, and touch, and corresponding research progress and application of the sensors were introduced.

Research Progress on Artificial Intelligence Human Sensor

We explore the use of the SWIM (Sequential Wave Imprinting Machine) to visualize and photograph electric motor voltages and currents plotted as a function of position in a way that also captures the effects of a vehicle, vessel, (con)veyance, or vironment's drivetrain, or the like, as well as other effects such as wheel, propeller, or paddle slippage. We explore SWIM as an eXtended Reality (XR) for safety. Whereas an oscilloscope can show these voltages and currents as functions of time, our use of SWIM shows them as functions of space, situated in visual reality, i.e. as an augmented reality (AR) or extended reality (XR) that can be photographed or viewed by the human eye without the wearing of any special eyeglass or headset. Whereas previous work on SWIM typically uses rotary SWIM to visualize or photograph rotary phenomena (e.g. the behaviour of an electric motor) and linear SWIM to visualize or photograph linear phenomena, in this paper we propose and demonstrate the use of linear SWIM to capture rotary phenomena, such as the combined effect of a rotary electric motor on vehicle/vessel/veyance/vironment propulsion. 

Powertrain photography and visualization using SWIM (Sequential Wave Imprinting Machine) for veyance safety

This paper intends to design a 6-DOF force/torque sensor along with its readout circuit for collaborative robots (Cobots) working environment. There are two major technologies to develop by this paper. The first technology is the capability of sensing contact forces and torques by a newly-designed six degrees-of-freedom (DOF) force/torque sensor at a fast speed to facilitate feedback control towards anti-collision for the Cobots with wide measurement range, precision, with a smaller size and lower costs. For the force/torque sensor structure, the finite element method (FEM) is established. The sensor is designed and optimized based on finite element analysis (FEA) while “maximum likelihood estimation (MLE)” is utilized to increase accuracy in estimation of force/torque by using appropriate statistical model. The second technology is the anti-collision control. If the collision occurs, the Cobot has an ability to response safely and instantaneously. The proposed control scheme and assisting 6-DOF sensor are capable of performing Cobots anti-collision in welding, grinding, polishing, assembling, etc. with high precision.

A novel 6-DOF force/torque sensor for COBOTs and its calibration method

A new, high-efficiency power management circuit for a novel small-sized, two-phase compensated pulse alternator (compulsator) is designed to provide high pulsed powers, making itself a promising compact power supply system for a number of applications, like producing nanosized powders by explosion of wires. The design and manufacture of this novel small-sized compulsator was successful with favorable efficiency validated. Along with this, compulsator is a newly designed high-efficiency power converter circuitry designed by this study for converting the alternating power generated by the compulsator to unipolar pulse power. The designed converter consists of two parallel single-phase rectifiers on the two-phase power generated by the designed compulsator. The rectification is enabled by using thyristors as power switches for the converter. The switching of thyristors is made possible by all-analog controller circuits, which decide the firing angle based on sensed pulsed power in two phases in real time. Experiments are conducted, with the result showing that the designed compulsator and power management circuit can generate a peak current up to the level of 2.178 kA. and a current density of 96.133 kA/m2, which was never seen by prior works.

A New High-Efficiency Power Management Circuit for a Novel Two-Phase Compensated Pulse Alternator

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A novel 6-DOF force/torque sensor for COBOTs and its calibration method

A New High-Efficiency Power Management Circuit for a Novel Two-Phase Compensated Pulse Alternator