All-elastomer in-plane MEMS capacitive tactile sensor for normal force detection

2013 ◽  
Author(s):  
Alexi Charalambides ◽  
Sarah Bergbreiter
Keyword(s):  
Normal Force ◽  
Tactile Sensor ◽  
Force Detection

A Flexible Tactile Sensor Based on Porous Graphene Sponge for Tiny Force Measurement

2018 ◽  
Author(s):  
Lingfeng Zhu ◽  
Yancheng Wang ◽  
Xin Wu ◽  
Deqing Mei
Keyword(s):  
Force Measurement ◽  
High Sensitivity ◽  
Tactile Sensor ◽  
Tactile Sensors ◽  
Force Detection ◽  
Pressure Sensing ◽  
Porous Graphene ◽  
Graphene Sponge ◽  
Healthcare Monitoring ◽  
Working Principle

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.

A Microfluidic-Based Tactile Sensor for 3-DOF Force/Torque Detection

2015 ◽  
Author(s):  
Yichao Yang ◽  
Zhili Hao
Keyword(s):  
Soft Lithography ◽  
Shear Force ◽  
Normal Force ◽  
Three Dimensional ◽  
Tactile Sensor ◽  
Degree Of Freedom ◽  
Experimental Results ◽  
Torque Sensor ◽  
Resistance Increase ◽  
3D Microstructure

This paper reports on a microfluidic-based tactile sensor capable of detecting forces along two directions and torque about one direction. The 3-Degree-Of-Freedom (3-DOF) force/torque sensor encompasses a symmetric three-dimensional (3D) microstructure embedded with two sets of electrolyte-enabled distributed resistive transducers underneath. The 3D microstructure is built into a rectangular block with a loading-bump on its top and two microchannels at its bottom. Together with electrode pairs distributed along the microchannel length, electrolyte in each microchannel functions as a set of three resistive transducers. While a normal force results in a resistance increase in the two sets of transducers, a shear force causes opposite resistance changes in the two sets of transducers. Conversely, a torque leads to the opposite resistance changes in the two side transducers in each set. Soft lithography and CNC molding are combined to fabricate a prototype tactile sensor. The experimental results validate the feasibility of using this microfluidic-based tactile sensor for 3-DOF force/torque detection.

scholarly journals Design, Motivation and Evaluation of a Full-Resolution Optical Tactile Sensor

Sensors ◽  
2019 ◽  
Vol 19 (4) ◽  
pp. 928 ◽  
Author(s):  
Carmelo Sferrazza ◽  
Raffaello D’Andrea
Keyword(s):  
High Resolution ◽  
Deep Neural Network ◽  
Normal Force ◽  
Tactile Sensor ◽  
High Accuracy ◽  
Image Sensors ◽  
Random Pattern ◽  
Full Resolution ◽  
Sense Of Touch ◽  
Modern Image

Human skin is capable of sensing various types of forces with high resolution and accuracy. The development of an artificial sense of touch needs to address these properties, while retaining scalability to large surfaces with arbitrary shapes. The vision-based tactile sensor proposed in this article exploits the extremely high resolution of modern image sensors to reconstruct the normal force distribution applied to a soft material, whose deformation is observed on the camera images. By embedding a random pattern within the material, the full resolution of the camera can be exploited. The design and the motivation of the proposed approach are discussed with respect to a simplified elasticity model. An artificial deep neural network is trained on experimental data to perform the tactile sensing task with high accuracy for a specific indenter, and with a spatial resolution and a sensing range comparable to the human fingertip.

Flexible Force Sensors Using Fiber Bragg Grating

2006 ◽  
Vol 326-328 ◽  
pp. 1343-1346
Author(s):  
Jin Seok Heo ◽  
Jong Ha Cheung ◽  
Jung Ju Lee
Keyword(s):  
Optical Fiber ◽  
Normal Force ◽  
Fiber Bragg Gratings ◽  
Tactile Sensor ◽  
Optical Fiber Sensors ◽  
Force Sensors ◽  
Fiber Sensors ◽  
Light Loss ◽  
Bridge Type ◽  
Type Transducer

In this paper, we present a newly designed flexible optical fiber force sensors which use fiber Bragg gratings and diaphragm and bridge type transducer, to detect a distributed normal force and which is the first step toward realizing a tactile sensor using optical fiber sensors (FBG). The transducer is designed such that it is not affected by chirping and light loss to enhance the performance of the sensors. We also present the design and fabrication process and experimental verification of the prototype sensors.

scholarly journals Capacitive Tactile Sensor with Concentric-Shape Electrodes for Three-Axial Force Measurement

Proceedings ◽  
2018 ◽  
Vol 2 (13) ◽  
pp. 708 ◽  
Author(s):  
Min-Sheng Suen ◽  
Rongshun Chen
Keyword(s):  
Axial Force ◽  
Bottom Electrode ◽  
Normal Force ◽  
Force Measurement ◽  
Tactile Sensor ◽  
Capacitive Sensor ◽  
Wearable Devices ◽  
Capacitive Sensing ◽  
Electrode Shape ◽  
Spacer Layer

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.

Sensing characteristics of an optical three-axis tactile sensor under combined loading

Robotica ◽  
2004 ◽  
Vol 22 (2) ◽  
pp. 213-221 ◽  
Author(s):  
Masahiro Ohka ◽  
Yasunaga Mitsuya ◽  
Yasuaki Matsunaga ◽  
Shuichi Takeuchi
Keyword(s):  
Normal Force ◽  
Tangential Force ◽  
Testing Machine ◽  
Tactile Sensor ◽  
Combined Loading ◽  
Vertical Force ◽  
Load Testing ◽  
Brass Plate ◽  
The Coefficient Of Friction ◽  
Sensing Characteristics

This paper describes precision enhancement of an optical three-axis tactile sensor capable of detecting both normal force and tangential force. The sensor's single cell consists of a columnar feeler and 2-by-2 conical feelers. We have derived equations to precisely estimate the three-axis force from the area-sum and area-difference of the conical feelers' contact areas by taking into account wrench-length shrinkage caused by a vertical force. To evaluate the equations and determine constants included in the equations, we performed a series of calibration experiments using a manipulator-mounted tactile sensor and a combined load-testing machine. Subsequently. to evaluate the tactile sensor's practicality. it was mounted on the end of a robotic manipulator which rubbed flat specimens such as brass plates with step-heights of δ=0.05, 0.1, 0.2 mm and a brass plate with no step-height. We showed from the experimental data that the optical three-axis tactile sensor can detect not only the step-heights but also the distribution of the coefficient of friction, and that the sensor can detect fine plate inclination with accuracy to about ±0.4°.

Sign in / Sign up

Export Citation Format

Share Document