Subject Matter Gr.

8 Robotics
Touch Sensors Object Avoidance
using ATX 2 Robot
 Objectives

a. explain correctly the function of a touch

sensor and how it works through
quescussion;
b. perform accurately how to calibrate the
touch sensor through hands-on activity;
 Objectives

• create correctly a program for touch sensor

to avoid objects through hands-on activity
 References
• https://www.seeedstudio.com/blog/2019/12/31/wh
at-is-touch-sensor-and-how-to-use-it-with-arduino/#:
~:text=Touch%20sensor%20in%20robotics%3B%20a,
have%20it%20to%20stop%20moving
)
• DSTC materials
 Touch Sensor Pre-Test
1. Where on our bodies do we have touch
sensors?
2. What is a touch sensor?
3. When you press a touch sensor, what exactly
happens and how does it convey the signal to
the ATX-2 Robot?
4. To what category does a touch sensor belong:
Analog sensor or Digital sensor?
 Robotics News

Finger-shaped sensor enables more

dexterous robots.
MIT engineers develop a long, curved touch
sensor that could enable a robot to grasp and
manipulate objects in multiple ways.
Source: https://news.mit.edu/2023/finger-shaped-sensor-enables-more-
dexterous-robots-1004
• Imagine grasping a heavy object, like a pipe wrench,
with one hand. You would likely grab the wrench
using your entire fingers, not just your fingertips.

• Sensory receptors in your skin, which run along the

entire length of each finger, would send information
to your brain about the tool you are grasping.
• In a robotic hand, tactile sensors that use
cameras to obtain information about grasped
objects are small and flat, so they are often
located in the fingertips.
• These robots, in turn, use only their fingertips
to grasp objects, typically with a pinching
motion.
• This gif shows a robotic hand that
incorporates three, finger-shaped
GelSight Svelte sensors. The sensors,
which provide high-resolution tactile
sensing over a large area, enable the
hand to perform multiple grasps,
including pinch grasps that use only
the fingertips and a power grasp that
uses the entire sensing area of all
three fingers.
 What is a Touch sensor?
• Touch sensors—called tactile sensors by
engineers—are part of many devices that we
use every day. Tactile sensors are sensitive to
touch, force or pressure, and are made using
light (optical), electricity or magnetism.
• The stimulus-to-response pathways seen in
electronic touch sensor operation mimics the
human body process that involves our skin,
signal transmission via the nervous system,
and brain.
• A touch sensor is an electronic sensor used
in detecting and recording physical touch.

• Also known as tactile sensors, it’s a small,

simple, low-cost sensor made to replace old
mechanical switches we seen in the past.
• Touch sensor in robotics; a touch sensor is
commonly used in robots, enabling basic
movement and the ability to detect touch in
its surroundings (E.g. When the robot runs
into something, the touch sensor can have it
to stop moving)
How are touch or tactile sensors made?
The touch sensor has a button-like
protrusion. When bumped, it
sends an electrical signal to the
robot saying that it has been
touched.
 How do touch sensors work?

• The touch sensor works like a light switch in your

house.
• When the button is pressed, an electrical circuit is
connected inside the sensor, sending an electric
current to the robot.
• When the button is released, the circuit is broken
and no electricity flows.
Applications of Touch Sensor
Applications of Touch Sensor
 Other Touch Sensor Applications

• Automotive, industrial applications

• Touch sensor faucet in kitchens; allowing for
control of running water without having to
physically turn the knob
• Most other applications that require
pressure/distance measurement
Touch Sensor Calibration
#include <ATX2.h>

int pushButton=A6;
• Upload the calibration code to the robot,
don’t uplug the usb cable.

Click the
 Sample Program for Object Avoidance by
Contact using Touch Sensors
#include <ATX2.h> // ATX2 Board
void setup() {
OK(); // ATX2 initialize
}

void loop()
{
int touchOne = digitalRead(A6); // left touch sensor
int touchTwo = digitalRead(A7); // right touch sensor
motor(ALL4, 50);

if(touchOne == LOW) // when pressed

{
motor(12,50);
motor(34,100);
delay(1000);
} 29
if(touchTwo == LOW) // when pressed
{
motor(12,100);
motor(34,50);
delay(100);
}
30
if(touchOne == LOW && touchTwo ==LOW)
{
motor(ALL4, -100);
delay(1000);
motor(12,100);
motor(34,-50);
delay(1000);
}
}
 Summary
• A touch sensor works like a switch or a
bumper of a robot, where when there’s
contact, touch, or pressure on the
surface of a touch sensor, it opens up an
electrical circuit and allows currents to
flow through it.
• It involves designing a system where an
ATX2 robot utilizes touch sensors to
navigate and avoid obstacles.
• The concept focuses on the integration
of touch-sensitive technology to enable
the robot to detect and respond to
physical contact with objects in its
environment.
• This innovative approach aims to
enhance the robot's autonomy and
safety during its operations.
 Written Work 1 Mind Map
Directions:
• Make your own Mind Map about the given
guide question. The said guide question will
serve as the main topic. 20 pts.

Deadline: April 2, 2024, Tuesday

"How can the concept of touch sensor
object avoidance be visually
represented in a concept map for the
ATX2 robot?"

Cite 1 example of practical applications on

how you can utilize your new found
knowledge in your daily life experiences.
Sample Layout of Mind Map

Importa Learning
nce Insights
Topic
1 Example / Applicat
Real life
scenario ion