Enhanced surface roughness discrimination with optimized features from bio-inspired tactile sensor

2017 ◽  
Vol 264 ◽  
pp. 133-140 ◽  
Author(s):  
Longhui Qin ◽  
Zhengkun Yi ◽  
Yilei Zhang
2017 ◽  
Vol 255 ◽  
pp. 46-53 ◽  
Author(s):  
Zhengkun Yi ◽  
Yilei Zhang ◽  
Jan Peters

2004 ◽  
Vol 808 ◽  
Author(s):  
George T. Dalakos ◽  
Joel L. Plawsky ◽  
Peter D. Persans

ABSTRACTGlow discharge amorphous hydrogenated silicon (a-Si:H) prepared at near room temperature typically results in an inhomogeneous morphology that is undesirable for a number of thin film applications. The most commonly observed features of this include columnar morphology and surface roughness. This usually results from anodic deposition, where substrates are placed on the grounded electrode. We have discovered that placing substrates on the RF-powered electrode (referred to as cathodic deposition) offers a much wider processing range for homogenous growth than anodic growth. We have also found that the magnitude of the surface roughness and the bulk void fraction of both anodic and cathodic a-Si:H thin films processed at low-temperatures is proportional to ∼D/F, where D is the surface diffusivity and F, the adatom flux, though anodic and cathodic deposition affect these global parameters differently. Surface processes unique to cathodic deposition can enhance adatom surface diffusion, while diffusion during anodic deposition is fixed and cannot attain homogeneous growth at high adatom fluxes. Processing a-Si:H on the cathode, associated with enhanced adatom surface diffusion, allows for homogeneous growth even at high deposition rates that has benefits for a number of applications.


2002 ◽  
Vol 124 (3) ◽  
pp. 576-582 ◽  
Author(s):  
J. Dargahi

This paper reports on design, fabrication and testing of a prototype Polyvinylidene Fluoride (PVDF) tactile sensor for endoscopic and robotic applications. The sensor can measure both compliance and surface roughness. It consists of rigid and compliant elements. A relative deformation between adjacent parts of the contact object is used to measure the compliance, and the deformation of the compliant element of the sensor is used to measure the profile of a rough surface. The sensor in miniaturized form can be integrated with both endoscopic graspers and robotic end effectors. The theoretical analysis of the sensor is made and compared with experimental values. The advantages and limitations of the sensor are also discussed.


2016 ◽  
Vol 704 ◽  
pp. 155-160 ◽  
Author(s):  
Vera Friederici ◽  
Thomas Hartwig

The metal injection moulding technique is already established for serial production of complex parts, mostly from various stainless steels. However, for other materials, especially for titanium parts there is still the need for superior purity and enhanced surface quality. Facing the challenge of obtaining suitable medical titanium MIM parts, advances have been made at Fraunhofer IFAM over the last few years.One strategy to overcome the high risk of carbon up-take was to adjust the sintering program. Very low Argon flow rates, 50 mbar pressure and two hours dwell time at 1350°C were found to be optimal parameters. A cleaning cycle prior to the actual sintering at 1450°C under hydrogen was also found to enhance the results.Another strategy involved the choice of binder components. Stearic acid, which is often used to improve wettability of binder to powder particle, and high polymer content affect the oxygen content of the titanium parts. Low amounts of both are beneficial for high purity parts.Other investigations were performed concerning the surface quality. It was found that the surface roughness of the mould has an effect on the surface roughness of the sintered parts. Although sintered titanium surfaces as such exhibit quite rough surfaces of about 2-3 µm (Ra value) the influence of the surface finish of the mould was detectable. Using very fine powders of only 15 µm mean particle size and a polished mould a very low surface roughness of less than 1.2 µm on the sintered part was obtainable.


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