Design and simulation of 1-DOF tactile sensor for gripping force measurement

Author(s):  
Y. W. R. Amarasinghe ◽  
A. L. Kulasekera ◽  
T. G. P. Priyadarshana
2015 ◽  
Vol 76 (1) ◽  
Author(s):  
Nurul Fathiah Mohamed Rosli ◽  
Muhammad Azmi Ayub ◽  
Roseleena Jaafan

The main objective of this research work is to anal yze the characteristics of a newly developed optical tactile sensor for sensing surface hardness. Many optical tactile sensors are bulky in size and lack of dexterity for biomedical applications. Therefore, this tactile sensor is design relative small in size and flexible for easier insertion in endoscopic surgery application. The characteristics of the tactile sensor are calibrated with respect to changes in the diameter, area and perimeter of a silicon tactile sensor subjected to normal forces applied at the point of interaction. A surface exploration computer algorithm to obtain the sensing information was developed to analyse the characteristic of the optical tactile sensor. The overall image anal ysis technique involves the following main stages: image acquisition (capturing of images), processing (thresholding, noise filtering and boundary detection ) and evaluation (force measurement). The measured forces were then compared to the actual forces to determine the accuracy of the tactile sensor’s characteristics. The results showed tluit the sensing characteristic with respect to changes in perimeter of the tactile sensor is more accurate compared to the other sensing characteristics. The outcomes of this research shows that the functionality of the developed new image anal ysis computer algorithm coupled with the silicone tactile sensor is suitable for biomedical applications such as in endoscopic surgery for measurement of tissue softness.


Author(s):  
Lingfeng Zhu ◽  
Yancheng Wang ◽  
Xin Wu ◽  
Deqing Mei

Flexible tactile sensors have been utilized for epidermal pressure sensing, motion detecting, and healthcare monitoring in robotic and biomedical applications. This paper develops a novel piezoresistive flexible tactile sensor based on porous graphene sponges. The structural design, working principle, and fabrication method of the tactile sensor are presented. The developed tactile sensor has 3 × 3 sensing units and has a spatial resolution of 3.5 mm. Then, experimental setup and characterization of this tactile sensor are conducted. Results indicated that the developed flexible tactile sensor has good linearity and features two sensitivities of 2.08 V/N and 0.68 V/N. The high sensitivity can be used for tiny force detection. Human body wearing experiments demonstrated that this sensor can be used for distributed force sensing when the hand stretches and clenches. Thus the developed tactile sensor may have great potential in the applications of intelligent robotics and healthcare monitoring.


Proceedings ◽  
2018 ◽  
Vol 2 (13) ◽  
pp. 708 ◽  
Author(s):  
Min-Sheng Suen ◽  
Rongshun Chen

In this paper, a novel capacitive tactile sensing device has proposed and demonstrated to solve coupling problem within the normal force and shear force by the unique design of electrode shape. In addition, the tactile sensor was added in the measuring capability of torsion sensing compared with traditional capacitive sensor. The perceptive unit of tactile sensor, which was consist of five sensing electrodes to detect three-axial force. The complete tactile sensor composed of a top electrode, a bottom electrode, and a spacer layer. Each capacitive sensing unit comprised a pair of the concentric-shape but different size electrodes (top electrode and bottom electrode). In the future, the proposed tactile sensor can be utilized in the wearable devices, flexible interface, and bionic robotic skins.


2021 ◽  
pp. 1-1
Author(s):  
Yi Gong ◽  
Xiaoying Cheng ◽  
Zhenyu Wu ◽  
Yisheng Liu ◽  
Ping Yu ◽  
...  

Author(s):  
Yohei TAKEDA ◽  
Kentaro NODA ◽  
Takuya TSUKAGOSHI ◽  
Takumi TAMAMOTO ◽  
Ken’ichi KOYANAGI ◽  
...  

Sensors ◽  
2018 ◽  
Vol 18 (8) ◽  
pp. 2471 ◽  
Author(s):  
Andrés Trujillo-León ◽  
Wael Bachta ◽  
Julián Castellanos-Ramos ◽  
Fernando Vidal-Verdú

Tactile sensors can be used to build human-machine interfaces, for instance in isometric joysticks or handlebars. When used as input sensor device for control, questions arise related to the contact with the human, which involve ergonomic aspects. This paper focuses on the example application of driving a powered wheelchair as attendant. Since other proposals use force and torque sensors as control input variables, this paper explores the relationship between these variables and others obtained from the tactile sensor. For this purpose, a handlebar is instrumented with tactile sensors and a 6-axis force torque sensor. Several experiments are carried out with this handlebar mounted on a wheelchair and also fixed to a table. It is seen that it is possible to obtain variables well correlated with those provided by force and torque sensors. However, it is necessary to contemplate the influence of issues such as the gripping force of the human hand on the sensor or the different kinds of grasps due to different physical constitutions of humans and to the inherent random nature of the grasp. Moreover, it is seen that a first step is necessary where the contact with the hands has to stabilize, and its characteristics and settle time are obtained.


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