Intelligent Object (iObject+)

The Intelligent Object, short iObject+, is the second generation instrumented object, developed for research on human and robotic grasping and manipulation. It estimates its pose in space from an IMU sensor and measures interaction forces on its surface via an array of tactile sensors.

The iObject+ has following improvements compared to the first generation iObject:

• 960 tactile cells with twice as high spatial resolution (from 10mm down to 5mm), effectively quadrupling the tactile pixel (taxel) count
• Improved shape of tactile sensor cells (m-shape instead of circular-shape)
• option to use cable-based (USB 2.0 High-Speed) communication in addition to purely wireless. This is especially interesting for real-time applications requiring deterministic latency
• higher internal data processing power (using PIC32MZ2048EFM100 microcontroller (32-Bit, 200 MHz, 330DMIPS) instead of PIC18F6627 (8-Bit, 40 MHz, 10 MIPS))
• considerable cost and space savings due to Inertial-Measurement-Unit (IMU) change (Bosch Sensortec BNO055 instead of XSens MTx)
• embedded battery charging circuitry - removing the necessity for external charger

Related People

Kõiva, RistoSupervisor

Haschke, RobertSupervisor