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.

scholarly journals Ultra-Sensitive Flexible Tactile Sensor Based on Graphene Film

Micromachines ◽  
2019 ◽  
Vol 10 (11) ◽  
pp. 730 ◽  
Author(s):  
Xiaozhou Lü ◽  
Liang Qi ◽  
Hanlun Hu ◽  
Xiaoping Li ◽  
Guanghui Bai ◽  
...  
Keyword(s):  
Industrial Robot ◽  
Graphene Film ◽  
High Sensitivity ◽  
Tactile Sensor ◽  
Measurement Range ◽  
Tactile Sensors ◽  
Piezoresistive Effect ◽  
Large Measurement ◽  
Pet Film ◽  
Maximum Measurement

Flexible tactile sensor can be integrated into artificial skin and applied in industrial robot and biomedical engineering. However, the presented tactile sensors still have challenge in increasing sensitivity to expand the sensor’s application. Aiming at this problem, this paper presents an ultra-sensitive flexible tactile sensor. The sensor is based on piezoresistive effect of graphene film and is composed of upper substrate (PDMS bump with a size of 5 mm × 7 mm and a thickness of 1 mm), medial Graphene/PET film (Graphene/PET film with a size of 5 mm × 7 mm, PET with a hardness of 2H) and lower substrate (PI with fabricated electrodes). We presented the structure and reduced the principle of the sensor. We also fabricated several sample devices of the sensor and carried out experiment to test the performance. The results show that the sensor performed an ultra high sensitivity of 10.80/kPa at the range of 0–4 kPa and have a large measurement range up to 600 kPa. The sensor has 4 orders of magnitude between minimum resolution and maximum measurement range which have great advantage compared with state of the art. The sensor is expected to have great application prospect in robot and biomedical.

scholarly journals Facile Fabrication of 3D Porous Sponges Coated with Synergistic Carbon Black/Multiwalled Carbon Nanotubes for Tactile Sensing Applications

Nanomaterials ◽  
2020 ◽  
Vol 10 (10) ◽  
pp. 1941 ◽  
Author(s):  
Yousef Al-Handarish ◽  
Olatunji Mumini Omisore ◽  
Wenke Duan ◽  
Jing Chen ◽  
Luo Zebang ◽  
...  
Keyword(s):  
Carbon Black ◽  
High Sensitivity ◽  
Tactile Sensor ◽  
Fast Response ◽  
Wearable Electronics ◽  
Tactile Sensors ◽  
Multiwalled Carbon ◽  
Human Machine Interaction ◽  
External Compression ◽  
Sensing Applications

Recently, flexible tactile sensors based on three-dimensional (3D) porous conductive composites, endowed with high sensitivity, a wide sensing range, fast response, and the capability to detect low pressures, have aroused considerable attention. These sensors have been employed in different practical domain areas such as artificial skin, healthcare systems, and human–machine interaction. In this study, a facile, cost-efficient method is proposed for fabricating a highly sensitive piezoresistive tactile sensor based on a 3D porous dielectric layer. The proposed sensor is designed with a simple dip-coating homogeneous synergetic conductive network of carbon black (CB) and multi-walled carbon nanotube (MWCNTs) composite on polydimethysiloxane (PDMS) sponge skeletons. The unique combination of a 3D porous structure, with hybrid conductive networks of CB/MWCNTs displayed a superior elasticity, with outstanding electrical characterization under external compression. The piezoresistive tactile sensor exhibited a high sensitivity of (15 kPa−1), with a rapid response time (100 ms), the capability of detecting both large and small compressive strains, as well as excellent mechanical deformability and stability over 1000 cycles. Benefiting from a long-term stability, fast response, and low-detection limit, the piezoresistive sensor was successfully utilized in monitoring human physiological signals, including finger heart rate, pulses, knee bending, respiration, and finger grabbing motions during the process of picking up an object. Furthermore, a comprehensive performance of the sensor was carried out, and the sensor’s design fulfilled vital evaluation metrics, such as low-cost and simplicity in the fabrication process. Thus, 3D porous-based piezoresistive tactile sensors could rapidly promote the development of high-performance flexible sensors, and make them very attractive for an enormous range of potential applications in healthcare devices, wearable electronics, and intelligent robotic systems.

scholarly journals Ultra-thin, transparent and flexible tactile sensors based on graphene films with excellent anti-interference

RSC Advances ◽  
2017 ◽  
Vol 7 (48) ◽  
pp. 30506-30512 ◽  
Author(s):  
Minxuan Xu ◽  
Junjie Qi ◽  
Feng Li ◽  
Xinqin Liao ◽  
Shuo Liu ◽  
...  
Keyword(s):  
High Sensitivity ◽  
Tactile Sensor ◽  
Tactile Sensors ◽  
Graphene Films

The graphene based tactile sensor features a high sensitivity and shows strong anti-interference ability to the disturbance signals.

A New Highly Sensitive Dielectric Slip Detection Sensor for a Robotic Operation

2017 ◽  
Author(s):  
Sung Joon Kim ◽  
Ja Choon Koo
Keyword(s):  
Tactile Sensor ◽  
Relative Displacement ◽  
Large Area ◽  
Tactile Sensors ◽  
Post Process ◽  
Highly Sensitive ◽  
Grasping And Manipulation ◽  
Working Principle ◽  
Slip Detection

For dexterous grasping and manipulation, tactile sensors recognizing contact object are essential. Electronic skin (E-skin) with tactile sensors plays a role as both receiving information for grasping and protecting robot frame. This paper presents a polymer tactile sensor covering large area to fulfill role of E-skin. The sensor has a thin air gap between polymer layers and it is deformed reacting slip input. When slip is occurred, there is relative displacement between surrounding layer and it incurs change of electrode separation. NBR is used to sensor substrate because of its tough and flexible characteristic. Ultrathin aluminum tape is employed for electrodes. There is a changeability of size of the sensor because of its simple but effective working principle and structure. Slip detecting algorithm doesn’t have a post process such as FFT or DWT, so there isn’t delay for processing time. It realizes real-time slip detection reducing reaction time of robot hand.

scholarly journals Flexible mechanical metamaterials enabling soft tactile sensors with multiple sensitivities at multiple force sensing ranges

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Alireza Mohammadi ◽  
Ying Tan ◽  
Peter Choong ◽  
Denny Oetomo
Keyword(s):  
Degrees Of Freedom ◽  
Force Measurement ◽  
Design Procedure ◽  
Tactile Sensor ◽  
Design Parameters ◽  
Force Sensing ◽  
Tactile Sensors ◽  
Human Machine Interaction ◽  
Mechanical Metamaterials ◽  
Sensor Structure

AbstractThe majority of existing tactile sensors are designed to measure a particular range of force with a fixed sensitivity. However, some applications require tactile sensors with multiple task-relevant sensitivities at multiple ranges of force sensing. Inspired by the human tactile sensing capability, this paper proposes a novel soft tactile sensor based on mechanical metamaterials which exhibits multiple sensitivity regimes due to the step-by-step locking behaviour of its heterogenous multi-layered structure. By tuning the geometrical design parameters of the collapsible layers, each layer experiences locking behaviour under different ranges of force which provides different sensitivity of the sensor at different force magnitude. The integration of a magnetic-based transduction method with the proposed structure results in high design degrees of freedom for realising the desired contact force sensitivities and corresponding force sensing ranges. A systematic design procedure is proposed to select appropriate design parameters to produce the desired characteristics. Two example designs of the sensor structure were fabricated using widely available benchtop 3D printers and tested for their performance. The results showed the capability of the sensor in providing the desired characteristics in terms of sensitivity and force range and being realised in different shapes, sizes and number of layers in a single structure. The proposed multi-sensitivity soft tactile sensor has a great potential to be used in a wide variety of applications where different sensitivities of force measurement is required at different ranges of force magnitudes, from robotic manipulation and human–machine interaction to biomedical engineering and health-monitoring.

scholarly journals Pinch Force Measurement in Minimally Invasive Surgery with Tactile Sensors

2018 ◽  
Vol 1 (1) ◽  
pp. 1056-1061
Author(s):  
Mithat Can Özin ◽  
Bilsay Sümer ◽  
İlker Murat Koç
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Force Measurement ◽  
Tactile Sensor ◽  
Tactile Sensors ◽  
Pinch Force ◽  
Thin Film Sensors ◽  
Real Time Measurement ◽  
Low Elastic Modulus

This study focuses on the real-time measurement of the distributed pinch force in minimally invasive surgery with a piezoresistive tactile sensor. The measurement of the pinch force in distributed form is important because the conventional surgical tools have angular opening/closing mechanism, which causes non-uniform force distribution on the contacting sample. Additionally, the location and the magnitude of the equivalent pinch force is calculated. The grasping of the samples with homogenous and constant pinch force and the characterization of the samples with low elastic modulus can be carried out with tactile sensor included surgery tools. Apprentice surgeons can benefit the advantages of the thin film sensors in their training.

scholarly journals Flexible Tactile Electronic Skin Sensor with 3D Force Detection Based on Porous CNTs/PDMS Nanocomposites

2019 ◽  
Vol 11 (1) ◽  
Author(s):  
Xuguang Sun ◽  
Jianhai Sun ◽  
Tong Li ◽  
Shuaikang Zheng ◽  
Chunkai Wang ◽  
...  
Keyword(s):  
Tangential Force ◽  
Three Dimensional ◽  
High Sensitivity ◽  
Normal Pressure ◽  
Sensing Element ◽  
Tactile Sensors ◽  
Force Detection ◽  
Human Machine Interaction ◽  
Electronic Skin ◽  
Piezoresistive Sensor

Abstract Flexible tactile sensors have broad applications in human physiological monitoring, robotic operation and human–machine interaction. However, the research of wearable and flexible tactile sensors with high sensitivity, wide sensing range and ability to detect three-dimensional (3D) force is still very challenging. Herein, a flexible tactile electronic skin sensor based on carbon nanotubes (CNTs)/polydimethylsiloxane (PDMS) nanocomposites is presented for 3D contact force detection. The 3D forces were acquired from combination of four specially designed cells in a sensing element. Contributed from the double-sided rough porous structure and specific surface morphology of nanocomposites, the piezoresistive sensor possesses high sensitivity of 12.1 kPa−1 within the range of 600 Pa and 0.68 kPa−1 in the regime exceeding 1 kPa for normal pressure, as well as 59.9 N−1 in the scope of < 0.05 N and > 2.3 N−1 in the region of < 0.6 N for tangential force with ultra-low response time of 3.1 ms. In addition, multi-functional detection in human body monitoring was employed with single sensing cell and the sensor array was integrated into a robotic arm for objects grasping control, indicating the capacities in intelligent robot applications.

scholarly journals A Sensitive Piezoresistive Tactile Sensor Combining Two Microstructures

Nanomaterials ◽  
2019 ◽  
Vol 9 (5) ◽  
pp. 779 ◽  
Author(s):  
Xuguang Sun ◽  
Jianhai Sun ◽  
Shuaikang Zheng ◽  
Chunkai Wang ◽  
Wenshuo Tan ◽  
...  
Keyword(s):  
Low Cost ◽  
Body Movement ◽  
High Sensitivity ◽  
Tactile Sensor ◽  
Tactile Sensors ◽  
Electronic Skin ◽  
Highly Sensitive ◽  
Monitoring Applications ◽  
Monitoring Application ◽  
Fast Dynamic

A tactile sensor is an indispensable component for electronic skin, mimicking the sensing function of organism skin. Various sensing materials and microstructures have been adopted in the fabrication of tactile sensors. Herein, we propose a highly sensitive flexible tactile sensor composed of nanocomposites with pyramid and irregularly rough microstructures and implement a comparison of piezoresistive properties of nanocomposites with varying weight proportions of multi-wall nanotubes and carbon black particles. In addition to the simple and low-cost fabrication method, the tactile sensor can reach high sensitivity of 3.2 kPa−1 in the range of <1 kPa and fast dynamic response of 217 ms (loading) and 81 ms (recovery) at 40 kPa pressure. Moreover, body movement monitoring applications have been carried out utilizing the flexible tactile sensor. A sound monitoring application further indicates the potential for applications in electronic skin, human–computer interaction, and physiological detection.

scholarly journals Extra-Soft Tactile Sensor for Sensitive Force/Displacement Measurement with High Linearity Based on a Uniform Strength Beam

Materials ◽  
2021 ◽  
Vol 14 (7) ◽  
pp. 1743
Author(s):  
Na Ni ◽  
Xiaomin Xue ◽  
Dongbo Li
Keyword(s):  
High Sensitivity ◽  
Tactile Sensor ◽  
Normal Displacement ◽  
Test Results ◽  
Tactile Sensors ◽  
High Linearity ◽  
Uniform Strength ◽  
Soft Objects ◽  
Force Displacement ◽  
Sensing Characteristics

The soft sensing system has drawn huge enthusiasm for the application of soft robots and healthcare recently. Most of them possess thin-film structures that are beneficial to monitoring strain and pressure, but are unfavorable for measuring normal displacement with high linearity. Here we propose soft tactile sensors based on uniform-strength cantilever beams that can be utilized to measure the normal displacement and force of soft objects simultaneously. First, the theoretical model of the sensors is constructed, on the basis of which, the sensors are fabricated for testing their sensing characteristics. Next, the test results validate the constructed model, and demonstrate that the sensors can measure the force as well as the displacement. Besides, the self-fabricated sensor can have such prominent superiorities as follows—it is ultra-soft, and its equivalent stiffness is only 0.31 N·m−1 (approximately 0.4% of fat); it has prominent sensing performance with excellent linearity (R2 = 0.999), high sensitivity of 0.533 pF·mm−1 and 1.66 pF·mN−1 for measuring displacement and force; its detection limit is as low as 70 μm and 20 μN that is only one-tenth of the touch of a female fingertip. The presented sensor highlights a new idea for measuring the force and displacement of the soft objects with broad application prospects in mechanical and medical fields.

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