Tactile Sensing Using Contact Resistance in MWNT/PDMS Composites

2012 ◽  
Vol 1410 ◽  
Author(s):  
J. Ian McKelvey ◽  
Arpad Kormendy ◽  
L.P. Felipe Chibante
Keyword(s):  
Contact Resistance ◽  
Single Layer ◽  
Tactile Sensor ◽  
Force Sensor ◽  
Fast Response ◽  
Tactile Sensing ◽  
Polydimethyl Siloxane ◽  
Sensor Material ◽  
Sensing Systems ◽  
Finger Pressure

ABSTRACTA carbon nanotube polymer composite has been used to develop a flexible multi-touch tactile sensor device. Rather than employing the inherent bulk piezoresistive properties of the composite, the contact resistance between polymer and electrode was exploited to achieve finger pressure measurement with fast response. We have synthesized a series of multi-walled nanotube (MWNT) silicone composites to test the feasibility of a force sensor based on the change in surface contact resistance as a function of applied force. A single layer MWNT/polydimethyl-siloxane (PDMS) composite in the range of 1.5-3.0 % w/w nanotubes was employed as a force sensor material in an array of electrodes. It was determined that sensors based on these materials are viable as tactile sensing systems for finger-touch forces in the range of 1-100 N.

scholarly journals Novel Tactile Sensor Technology and Smart Tactile Sensing Systems: A Review

Sensors ◽  
2017 ◽  
Vol 17 (11) ◽  
pp. 2653 ◽  
Author(s):  
Liang Zou ◽  
Chang Ge ◽  
Z. Wang ◽  
Edmond Cretu ◽  
Xiaoou Li
Keyword(s):  
Tactile Sensor ◽  
Sensor Technology ◽  
Tactile Sensing ◽  
Sensing Systems

scholarly journals Localization of Sliding Movements Using Soft Tactile Sensing Systems with Three-axis Accelerometers

Sensors ◽  
2019 ◽  
Vol 19 (9) ◽  
pp. 2036 ◽  
Author(s):  
Trinh ◽  
Iwamoto ◽  
Shibuya
Keyword(s):  
Numerical Simulation ◽  
Tactile Sensor ◽  
Sensor System ◽  
Tactile Sensing ◽  
Dynamic Changes ◽  
Sliding Motion ◽  
Sensing Systems ◽  
Morphological Computation ◽  
The Ideal

This paper presents a soft tactile sensor system for the localization of sliding movements on a large contact surface using an accelerometer. The system consists of a silicone rubber base with a chamber covered by a thin silicone skin in which a three-axis accelerometer is embedded. By pressurizing the chamber, the skin inflates, changing its sensitivity to the sliding movement on the skin’s surface. Based on the output responses of the accelerometer, the sensor system localizes the sliding motion. First, we present the idea, design, fabrication process, and the operation principle of our proposed sensor. Next, we created a numerical simulation model to investigate the dynamic changes of the accelerometer’s posture under sliding actions. Finally, experiments were conducted with various sliding conditions. By confirming the numerical simulation, dynamic analysis, and experimental results, we determined that the sensor system can detect the sliding movements, including the sliding directions, velocity, and localization of an object. We also point out the role of pressurization in the sensing system’s sensitivity under sliding movements, implying the ideal pressurization for it. We also discuss its limitations and applicability. This paper reflects our developed research in intelligent integration and soft morphological computation for soft tactile sensing systems.

MEASUREMENT OF QUANTUM TUNNELING COMPOSITE RESISTIVITY CHARACTERISTICS FOR TACTILE SENSING APPLICATIONS

2015 ◽  
Vol 76 (4) ◽  
Author(s):  
Ahsana Aqilah Ahmad ◽  
Cheng Yee Low ◽  
Nurul Muthmainnah ◽  
Ahmed Jaffar
Keyword(s):  
Quantum Tunneling ◽  
Supply Voltage ◽  
Tactile Sensor ◽  
Tactile Sensing ◽  
Robotic Hand ◽  
Force Load ◽  
Sensor Material ◽  
Sensing Applications ◽  
Two Parameters ◽  
Repeated Experiment

This paper presents the work of investigating the used of Quantum Tunneling Composites (QTC) Pills as a tactile sensor material. The QTC Pills was tested for their resistivity characteristics to determine the sensor sensitivity, time of response and its allowable working range. The experiments were conducted base on the two parameters; the voltage, and the separation gap against the force/ load that exerted onto the QTC Pills. The results show that with a 5 V supply voltage and 0.5 mm separation gap of a side-by-side sensor construction, the usage of the QTC Pills as a tactile sensor can be optimized. Besides that the resistivity values established from the repeated experiment using QTC Pills produce the similar value and result. This makes the material suitable to be used as a tactile sensor material for the robotic hand.

STAND-UP MOTION SUPPORT BY A MOBILE MANIPULATOR SYSTEM WITH HIGH SPEED TACTILE SENSORS

2011 ◽  
Vol 08 (03) ◽  
pp. 181-195
Author(s):  
ZHAOXIAN XIE ◽  
HISASHI YAMAGUCHI ◽  
MASAHITO TSUKANO ◽  
AIGUO MING ◽  
MAKOTO SHIMOJO
Keyword(s):  
Fuzzy Logic ◽  
Feedback Control ◽  
Experimental Verification ◽  
High Speed ◽  
Center Of Pressure ◽  
Tactile Sensor ◽  
Mobile Manipulator ◽  
Tactile Sensing ◽  
Robot Arm ◽  
Tactile Sensors

As one of the home services by a mobile manipulator system, we are aiming at the realization of the stand-up motion support for elderly people. This work is charaterized by the use of real-time feedback control based on the information from high speed tactile sensors for detecting the contact force as well as its center of pressure between the assisted human and the robot arm. First, this paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system. Moreover, several fundamental tactile sensing-based motion controllers necessary for the stand-up motion support and their experimental verification are presented. Finally, an assist trajectory generation method for the stand-up motion support by integrating fuzzy logic with tactile sensing is proposed and demonstrated experimentally.

Representation and tactile sensing of 3-D objects by a gripper finger

Robotica ◽  
1983 ◽  
Vol 1 (4) ◽  
pp. 217-222 ◽  
Author(s):  
Gen-Ichiro Kinoshita
Keyword(s):  
Tactile Sensor ◽  
Large Displacement ◽  
Tactile Sensing ◽  
Sensor Element ◽  
Maximum Displacement

SUMMARYThe tactile sensor is constructed as a part of the finger of a parallel jaw hand; it is of the size of a finger and allows for a large displacement of the sensor element in response to force. The structure of the tactile sensor incorporates 20 successively and closely aligned elements, which allow for a 2.5 mm maximum displacement for each element. In the described experiments we present the capabilities of the tactile sensor. The tactile sensor has the functions of: 1) discriminating the shape of the partial surface of an object; and 2) tracing by finger on the surface along the profile of an object.

scholarly journals Hi-Speed Tactile Sensing for Array-type Tactile Sensor and Object Manipulation based on Tactile Information

2012 ◽  
Vol 25 (5) ◽  
pp. 117-125
Author(s):  
Wataru Fukui ◽  
Futoshi Kobayashi ◽  
Fumio Kojima ◽  
Hiroyuki Nakamoto ◽  
Tadashi Maeda ◽  
...  
Keyword(s):  
Tactile Sensor ◽  
Object Manipulation ◽  
Tactile Sensing ◽  
Tactile Information ◽  
Array Type

scholarly journals Hierarchically patterned self-powered sensors for multifunctional tactile sensing

2020 ◽  
Vol 6 (34) ◽  
pp. eabb9083 ◽  
Author(s):  
Yang Wang ◽  
Heting Wu ◽  
Lin Xu ◽  
Hainan Zhang ◽  
Ya Yang ◽  
...  
Keyword(s):  
Low Cost ◽  
Fast Response ◽  
Temperature Sensors ◽  
Physical Contact ◽  
Tactile Sensing ◽  
Material Identification ◽  
Flexible Sensors ◽  
Temperature Stimulus ◽  
Self Powered ◽  
Multifunctional Sensor

Flexible sensors are highly desirable for tactile sensing and wearable devices. Previous researches of smart elements have focused on flexible pressure or temperature sensors. However, realizing material identification remains a challenge. Here, we report a multifunctional sensor composed of hydrophobic films and graphene/polydimethylsiloxane sponges. By engineering and optimizing sponges, the fabricated sensor exhibits a high-pressure sensitivity of >15.22 per kilopascal, a fast response time of <74 millisecond, and a high stability over >3000 cycles. In the case of temperature stimulus, the sensor exhibits a temperature-sensing resolution of 1 kelvin via the thermoelectric effect. The sensor can generate output voltage signals after physical contact with different flat materials based on contact-induced electrification. The corresponding signals can be, in turn, used to infer material properties. This multifunctional sensor is excellent in its low cost and material identification, which provides a design concept for meeting the challenges in functional electronics.

scholarly journals Smart Tactile Sensing Systems Based on Embedded CNN Implementations

Micromachines ◽  
2020 ◽  
Vol 11 (1) ◽  
pp. 103 ◽  
Author(s):  
Mohamad Alameh ◽  
Yahya Abbass ◽  
Ali Ibrahim ◽  
Maurizio Valle
Keyword(s):  
Classification Accuracy ◽  
State Of The Art ◽  
Tactile Sensing ◽  
Prosthetic Devices ◽  
Decoding Algorithms ◽  
Machine Learning Methods ◽  
Complex Information ◽  
Sensing Systems ◽  
Hardware Platforms ◽  
Embedded Implementation

Embedding machine learning methods into the data decoding units may enable the extraction of complex information making the tactile sensing systems intelligent. This paper presents and compares the implementations of a convolutional neural network model for tactile data decoding on various hardware platforms. Experimental results show comparable classification accuracy of 90.88% for Model 3, overcoming similar state-of-the-art solutions in terms of time inference. The proposed implementation achieves a time inference of 1.2 ms while consuming around 900 μ J. Such an embedded implementation of intelligent tactile data decoding algorithms enables tactile sensing systems in different application domains such as robotics and prosthetic devices.

scholarly journals Single-Layer Pressure Textile Sensors with Woven Conductive Yarn Circuit

2020 ◽  
Vol 10 (8) ◽  
pp. 2877 ◽  
Author(s):  
Gaeul Kim ◽  
Chi Cuong Vu ◽  
Jooyong Kim
Keyword(s):  
Pressure Sensor ◽  
Pressure Sensors ◽  
Single Layer ◽  
Fast Response ◽  
Resistance Change ◽  
Load Pressure ◽  
Pressure Sensitive ◽  
High Durability ◽  
Textile Sensors ◽  
Conductive Fibers

Today, e-textiles have become a fundamental trend in wearable devices. Fabric pressure sensors, as a part of e-textiles, have also received much interest from many researchers all over the world. However, most of the pressure sensors are made of electronic fibers and composed of many layers, including an intermediate layer for sensing the pressure. This paper proposes the model of a single layer pressure sensor with electrodes and conductive fibers intertwined. The plan dimensions of the fabricated sensors are 14 x 14 mm, and the thickness is 0.4 mm. The whole area of the sensor is the pressure-sensitive point. As expected, results demonstrate an electrical resistance change from 283 Ω at the unload pressure to 158 Ω at the load pressure. Besides, sensors have a fast response time (50 ms) and small hysteresis (5.5%). The hysteresis will increase according to the pressure and loading distance, but the change of sensor loading distance is very small. Moreover, the single-layer pressure sensors also show high durability under many working cycles (20,000 cycles) or washing times (50 times). The single-layer pressure sensor is very thin and more flexible than the multi-layer pressure sensor. The structure of this sensor is also expected to bring great benefits to wearable technology in the future.

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