Tactile and Chemical Sensing With Haptic Feedback for a Telepresence Explosive Ordnance Disposal Robot

Abstract

Robots can be used to mitigate risks in unsafe and austere settings. In recent years, explosive ordnance disposal robots have reduced the technician's time-on-target, and thus, reduce the direct risk of exposure. This article focuses on the study and development of innovative techniques as the foundational work for a new robot platform. The proposed system includes an organic electrochemical transistor device to detect the existence of explosive residues, and lead to decisions for safe-removal progress. Taurus' surgical gripper facilitates object tactile exploration, and manipulation with control precision to the millimeter range. The highly sensitive triboelectric tactile sensor could reduce intrusiveness during contact, and mitigate the risk of detonation. Haptic devices and visual displays are used to convey important signals, in order to improve the situational awareness of the teleoperator. A machine learning classifier can be used to assist the user to identify objects from tactile sampling. The integration of these methodologies allows for a sensitive approach to concealed objects that are only accessible through tactile sensing.