CMOS-based sealed membranes for medical tactile sensor arrays

2003 ◽  
Author(s):  
T. Salo ◽  
T. Vancura ◽  
O. Brand ◽  
H. Baltes
Keyword(s):  
Sensor Arrays ◽  
Tactile Sensor

Effect of sensor size in robotic tactile sensor arrays

Robotica ◽  
1988 ◽  
Vol 6 (4) ◽  
pp. 285-287 ◽  
Author(s):  
A. W. De Groot
Keyword(s):  
Sensor Array ◽  
Empirical Investigation ◽  
Sensor Arrays ◽  
Visual Image ◽  
Tactile Sensor ◽  
Suitable Choice ◽  
Pixel Size ◽  
Optimal Result ◽  
Physical Size ◽  
Fundamental Limitation

SUMMARYThe degree to which a binary tactile (or visual) image matches the original object is limited by the resolution of the sensor array. Given this fundamental limitation it is still possible to minimize the error in the image formed by the interconnection of the centers of activated sensors along the object's edge. This is achieved by a suitable choice of the physical size of each sensor within the limits of the pixel size. An empirical investigation shows that normally a sensor area of about 50% of the square of the resolution yields an optimal result.

Effects of the elastic cover on tactile sensor arrays

2006 ◽  
Vol 132 (1) ◽  
pp. 245-251 ◽  
Author(s):  
Gábor Vásárhelyi ◽  
Mária Ádám ◽  
Éva Vázsonyi ◽  
István Bársony ◽  
Csaba Dücső
Keyword(s):  
Sensor Arrays ◽  
Tactile Sensor

scholarly journals Resolution Enhancement Method Used for Force Sensing Resistor Array

2015 ◽  
Vol 2015 ◽  
pp. 1-12 ◽  
Author(s):  
Karen Flores De Jesus ◽  
Marvin H. Cheng ◽  
Lei Jiang ◽  
Ezzat G. Bakhoum
Keyword(s):  
Resolution Enhancement ◽  
Sensor Arrays ◽  
Tactile Sensor ◽  
Force Sensing ◽  
Tactile Sensors ◽  
System A ◽  
Dimensional Measurements ◽  
Enhancement Method ◽  
Multiple Measurements ◽  
Applied Forces

Tactile sensors are one of the major devices that enable robotic systems to interact with the surrounding environment. This research aims to propose a mathematical model to describe the behavior of a tactile sensor based on experimental and statistical analyses and moreover to develop a versatile algorithm that can be applied to different tactile sensor arrays to enhance the limited resolution. With the proposed algorithm, the resolution can be increased up to twenty times if multiple measurements are available. To verify if the proposed algorithm can be used for tactile sensor arrays that are used in robotic system, a16×10force sensing array (FSR) is adopted. The acquired two-dimensional measurements were processed by a resolution enhancement method (REM) to enhance the resolution, which can be used to improve the resolution for single image or multiple measurements. As a result, the resolution of the sensor is increased and it can be used as synthetic skin to identify accurate shapes of objects and applied forces.

Design of Manipulator System with Tactile Sensor Arrays Based on the Demand of Frail Older People

2021 ◽  
pp. 65-72
Author(s):  
Lu Wang ◽  
Shasha Liu ◽  
Ling Weng ◽  
Wenmei Huang ◽  
Bowen Wang
Keyword(s):  
Older People ◽  
Sensor Arrays ◽  
Tactile Sensor ◽  
Frail Older People

Classification of Prism Object Shapes Utilizing Tactile Spatiotemporal Differential Information Obtained from Grasping by Single-Finger Robot Hand with Soft Tactile Sensor Array

2007 ◽  
Vol 19 (1) ◽  
pp. 85-96 ◽  
Author(s):  
Kenshi Watanabe ◽  
◽  
Kenichi Ohkubo ◽  
Sumiaki Ichikawa ◽  
Fumio Hara ◽  
...  
Keyword(s):  
Binary Data ◽  
Sensor Array ◽  
Feature Vector ◽  
Sensor Arrays ◽  
Tactile Sensor ◽  
Single Finger ◽  
Cell Patterns ◽  
Object Shapes ◽  
Contact Switch

Our proposal involves classifying cylindrical objects by using soft tactile sensor arrays on a single five-link robotic finger. The front of each link is covered with semicircular silicone rubber with 235 small on-off switches. On-off data from switches obtained when an object is grasped is converted to a spatiotemporal matrix. Eight cells around the contact switch are useful in extracting local spatiotemporal contact physics, so the frequency of the 8-Cell patterns composed of binary data around the switch contacted is obtained for each object and used to form a contact-feature vector. This vector is obtained 10 times of experimental trial, corresponding to each object. Vectors are classified by the Mahalanobis distance for 12 objects - cylinders and regular polygonal prisms - resulting in 14 types of grasping (14 classes). Using 6 dimensional feature vectors, over 95% classification accuracy is obtained for 7 classes derived from 5 objects having one or two types of stable grasping.

scholarly journals Scalable tactile sensor arrays on flexible substrates with high spatiotemporal resolution enabling slip and grip for closed-loop robotics

2020 ◽  
Vol 6 (46) ◽  
pp. eabd7795
Author(s):  
Hongseok Oh ◽  
Gyu-Chul Yi ◽  
Michael Yip ◽  
Shadi A. Dayeh
Keyword(s):  
Large Scale ◽  
Closed Loop ◽  
Sensor Arrays ◽  
High Sensitivity ◽  
Tactile Sensor ◽  
Flexible Substrates ◽  
Spatiotemporal Resolution ◽  
Reliable Performance ◽  
Device Applications ◽  
Flow Detection

We report large-scale and multiplexed tactile sensors with submillimeter-scale shear sensation and autonomous and real-time closed-loop grip adjustment. We leveraged dual-gate piezoelectric zinc oxide (ZnO) thin-film transistors (TFTs) fabricated on flexible substrates to record normal and shear forces with high sensitivity over a broad range of forces. An individual ZnO TFT can intrinsically sense, amplify, and multiplex force signals, allowing ease of scalability for multiplexing from hundreds of elements with 100-μm spatial and sub–10-ms temporal resolutions. Notably, exclusive feedback from the tactile sensor array enabled rapid adjustment of grip force to slip, enabling the direct autonomous robotic tactile perception with a single modality. For biomedical and implantable device applications, pulse sensing and underwater flow detection were demonstrated. This robust technology, with its reproducible and reliable performance, can be immediately translated for use in industrial and surgical robotics, neuroprosthetics, implantables, and beyond.

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