A Coil-Based Tactile Sensor for Material Discrimination (1) and Contact Force Measurement: An Application of Multifunctional Sensing Technique

2005 ◽  
Vol 125 (1) ◽  
pp. 15-20
Author(s):  
Zhiyu Chi ◽  
Katsunori Shida
Keyword(s):  
Contact Force ◽  
Force Measurement ◽  
Tactile Sensor ◽  
Material Discrimination

scholarly journals Development of Contact Force Measurement Algorithm for a 3D Printing-type Flexible Tactile Sensor

2015 ◽  
Vol 21 (6) ◽  
pp. 583-588
Author(s):  
Kyeong-Hwa Jeong ◽  
Ju-Kyoung Lee ◽  
Suk Lee ◽  
Kyung-Chang Lee
Keyword(s):  
3D Printing ◽  
Contact Force ◽  
Force Measurement ◽  
Tactile Sensor ◽  
Measurement Algorithm

A Flexible Tactile Sensor Array Based on Pressure Conductive Rubber for Contact Force Measurement and Slip Detection

2016 ◽  
Vol 28 (3) ◽  
pp. 378-385 ◽  
Author(s):  
Yancheng Wang ◽  
◽  
Kailun Xi ◽  
Deqing Mei ◽  
Guanhao Liang ◽  
...  
Keyword(s):  
Contact Force ◽  
Sensor Array ◽  
Force Measurement ◽  
Tactile Sensor ◽  
Prosthetic Hand ◽  
Discrete Wavelet ◽  
Conductive Rubber ◽  
Sensing Material ◽  
Tactile Sensor Array ◽  
Slip Detection

[abstFig src='/00280003/14.jpg' width=""300"" text='A wearable tactile sensor array for three-axis contact force measurement and slip detection in prosthetic hand grasping' ] Using INASTAMOR pressure-conductive rubber as the sensing material, we developed a flexible tactile sensor array to measure three-axis contact force and slip. The sensor array has 9 (3 × 3) sensing units, each consisting of three layers, i.e., a bottom electrode, conductive rubber chips, a top polydimethylsiloxane (PDMS) bump. We detailed the array’s structural design, working principle, and fabrication process. We also characterize the array’s three-axis force measurement performance. The full-scale force measurement ranges and sensitivities in <em>x</em>-, <em>y</em>-, and <em>z</em>-axes are characterized as 5, 5, 20 N and 0.675, 0.677, 0.251 V/N, respectively. The array is mounted on a prosthetic hand for detecting contact force and slip occurrence in grasping. Results showed that the array measures three-axis contact force and detects slippage by using discrete wavelet transformation. The tactile sensor array has potential applications in robot-hand grasping that require simultaneous slip detection and three-axis contact force measurement.

A force identification method for slider/disk contact force measurement

2000 ◽  
Vol 36 (5) ◽  
pp. 2667-2670 ◽  
Author(s):  
Qing-Hua Zen ◽  
M. Chapin ◽  
D.B. Bogy
Keyword(s):  
Contact Force ◽  
Force Measurement ◽  
Force Identification ◽  
Identification Method ◽  
Disk Contact

scholarly journals Characteristics of Optical Silicone Tactile Sensor

2015 ◽  
Vol 76 (1) ◽  
Author(s):  
Nurul Fathiah Mohamed Rosli ◽  
Muhammad Azmi Ayub ◽  
Roseleena Jaafan
Keyword(s):  
Endoscopic Surgery ◽  
Biomedical Applications ◽  
Force Measurement ◽  
Research Work ◽  
Surface Hardness ◽  
Tactile Sensor ◽  
Computer Algorithm ◽  
Anal Ysis ◽  
Area And Perimeter ◽  
Images Processing

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.

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.

Adaptive Contact Force Control of a Flexible Beam Using Output Feedback

2000 ◽  
Author(s):  
Woosoon Yim
Keyword(s):  
Contact Force ◽  
Contact Surface ◽  
Force Control ◽  
Closed Loop ◽  
Force Measurement ◽  
Transient Behavior ◽  
Loop System ◽  
Flexible Beam ◽  
Reference Trajectory ◽  
Closed Loop System

Abstract This paper presents an adaptive force trajectory control of a flexible beam using a piezoceramic actuator. Based on the adaptive backstepping method, a force control system using only force measurement is designed. For the derivation of the control law, it is assumed that parameters of the beam and contact surface stiffness are unknown. It is shown that in the closed-loop system, the contact force tracks a given reference trajectory and the beam vibration is suppressed as well. Digital simulations results show that the closed-loop system has good transient behavior and robust performance in the presence of uncertainties in the parameters of the flexible beam and the contact surface.

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