scholarly journals Experimental Assessment of the Interface Electronic System for PVDF-Based Piezoelectric Tactile Sensors

Sensors ◽  
2019 ◽  
Vol 19 (20) ◽  
pp. 4437 ◽  
Author(s):  
Moustafa Saleh ◽  
Yahya Abbass ◽  
Ali Ibrahim ◽  
Maurizio Valle
Keyword(s):  
Low Power ◽  
Electronic System ◽  
Tactile Sensing ◽  
Tactile Sensors ◽  
Prosthetic Device ◽  
Experimental Assessment ◽  
Sensing System ◽  
Sensing Material ◽  
Sense Of Touch

Tactile sensors are widely employed to enable the sense of touch for applications such as robotics and prosthetics. In addition to the selection of an appropriate sensing material, the performance of the tactile sensing system is conditioned by its interface electronic system. On the other hand, due to the need to embed the tactile sensing system into a prosthetic device, strict requirements such as small size and low power consumption are imposed on the system design. This paper presents the experimental assessment and characterization of an interface electronic system for piezoelectric tactile sensors for prosthetic applications. The interface electronic is proposed as part of a wearable system intended to be integrated into an upper limb prosthetic device. The system is based on a low power arm-microcontroller and a DDC232 device. Electrical and electromechanical setups have been implemented to assess the response of the interface electronic with PVDF-based piezoelectric sensors. The results of electrical and electromechanical tests validate the correct functionality of the proposed system.

Development of Efficient Tactile Sensing System for Humanoid Robotics

2012 ◽  
Vol 232 ◽  
pp. 372-376 ◽  
Author(s):  
Muhammad Imran Khan ◽  
Abdul Mannan Khan ◽  
Muhammad Khurram Saleem ◽  
Ahmed Nouman
Keyword(s):  
Contact Surface ◽  
Humanoid Robots ◽  
Piezoelectric Sensors ◽  
Tactile Sensing ◽  
Tactile Sensors ◽  
Huge Number ◽  
Humanoid Robotics ◽  
Sensing System ◽  
Modeling Of Properties ◽  
Require Data

This paper is related to the development of ASIC for tactile sensing system in humanoid robots. First of all, it is necessary to choose the best sensor for tactile sensing in humanoid robots. A large number of sensors like capacitive, resistive, piezoresistive, tunnel effective, optical, ultrasonic, magnetism based, piezoelectric sensors are available in market for tactile sensing. Not all the sensors are suitable for tactile sensing at all locations of humanoid robotics. We need to use different sensors for different locations in humanoid robotics like fingerprints and belly. Fingerprints of robot are most important part where we need a huge number of sensors on a limited place. As we need a large amount of data for exact modeling of properties contact surface so we require data from a large number of tactile sensors and hence we need to develop an array of tactile sensors.

Fabrication and Characterization of Microcantilever for Detection of Vibration Sensation in Tactile Sensing

2019 ◽  
Vol 139 (11) ◽  
pp. 375-380
Author(s):  
Harutoshi Takahashi ◽  
Yuta Namba ◽  
Takashi Abe ◽  
Masayuki Sohgawa
Keyword(s):  
Tactile Sensing ◽  
Fabrication And Characterization

scholarly journals Optimization of a Low-Power Chemoresistive Gas Sensor: Predictive Thermal Modelling and Mechanical Failure Analysis

Sensors ◽  
2021 ◽  
Vol 21 (3) ◽  
pp. 783 ◽  
Author(s):  
Andrea Gaiardo ◽  
David Novel ◽  
Elia Scattolo ◽  
Michele Crivellari ◽  
Antonino Picciotto ◽  
...  
Keyword(s):  
Low Power ◽  
Failure Analysis ◽  
Gas Sensors ◽  
High Performance ◽  
Gas Sensing ◽  
Mechanical Failure ◽  
Sensing Applications ◽  
Theoretical Approaches ◽  
Sensing Material ◽  
Silicon Bulk

The substrate plays a key role in chemoresistive gas sensors. It acts as mechanical support for the sensing material, hosts the heating element and, also, aids the sensing material in signal transduction. In recent years, a significant improvement in the substrate production process has been achieved, thanks to the advances in micro- and nanofabrication for micro-electro-mechanical system (MEMS) technologies. In addition, the use of innovative materials and smaller low-power consumption silicon microheaters led to the development of high-performance gas sensors. Various heater layouts were investigated to optimize the temperature distribution on the membrane, and a suspended membrane configuration was exploited to avoid heat loss by conduction through the silicon bulk. However, there is a lack of comprehensive studies focused on predictive models for the optimization of the thermal and mechanical properties of a microheater. In this work, three microheater layouts in three membrane sizes were developed using the microfabrication process. The performance of these devices was evaluated to predict their thermal and mechanical behaviors by using both experimental and theoretical approaches. Finally, a statistical method was employed to cross-correlate the thermal predictive model and the mechanical failure analysis, aiming at microheater design optimization for gas-sensing applications.

scholarly journals A Vibrissa-Inspired Highly Flexible Tactile Sensor: Scanning 3D Object Surfaces Providing Tactile Images

Sensors ◽  
2021 ◽  
Vol 21 (5) ◽  
pp. 1572
Author(s):  
Lukas Merker ◽  
Joachim Steigenberger ◽  
Rafael Marangoni ◽  
Carsten Behn
Keyword(s):  
Steel Wire ◽  
Sense Organ ◽  
Tactile Sensor ◽  
Tactile Sensors ◽  
Measuring Device ◽  
3D Object ◽  
Torque Transducer ◽  
Sense Of Touch ◽  
Important Basis ◽  
Support Reactions

Just as the sense of touch complements vision in various species, several robots could benefit from advanced tactile sensors, in particular when operating under poor visibility. A prominent tactile sense organ, frequently serving as a natural paragon for developing tactile sensors, is the vibrissae of, e.g., rats. Within this study, we present a vibrissa-inspired sensor concept for 3D object scanning and reconstruction to be exemplarily used in mobile robots. The setup consists of a highly flexible rod attached to a 3D force-torque transducer (measuring device). The scanning process is realized by translationally shifting the base of the rod relative to the object. Consequently, the rod sweeps over the object’s surface, undergoing large bending deflections. Then, the support reactions at the base of the rod are evaluated for contact localization. Presenting a method of theoretically generating these support reactions, we provide an important basis for future parameter studies. During scanning, lateral slip of the rod is not actively prevented, in contrast to literature. In this way, we demonstrate the suitability of the sensor for passively dragging it on a mobile robot. Experimental scanning sweeps using an artificial vibrissa (steel wire) of length 50 mm and a glass sphere as a test object with a diameter of 60 mm verify the theoretical results and serve as a proof of concept.

scholarly journals Self-Powered Point-of-Care Device for Galvanic Cell-Based Sample Concentration Measurement

Sensors ◽  
2021 ◽  
Vol 21 (8) ◽  
pp. 2665
Author(s):  
Albert Álvarez-Carulla ◽  
Yaiza Montes-Cebrián ◽  
Jordi Colomer-Farrarons ◽  
Pere Lluís Miribel-Català
Keyword(s):  
Low Power ◽  
Point Of Care ◽  
Linear Sweep Voltammetry ◽  
Electronic System ◽  
Concentration Measurement ◽  
Galvanic Cell ◽  
Sample Concentration ◽  
Maximum Coefficient ◽  
Self Powered ◽  
Transfer Function Gain

A novel self-powered point-of-care low-power electronics approach for galvanic cell-based sample concentration measurement is presented. The electronic system harvests and senses at the same time from the single cell. The system implements a solution that is suitable in those scenarios where extreme low power is generated from the fuel cell. The proposed approach implements a capacitive-based method to perform a non-linear sweep voltammetry to the cell, but without the need to implement a potentiostat amplifier for that purpose. It provides a digital-user readable result without the need for external non-self-powered devices or instruments compared with other solutions. The system conception was validated for a particular case. The scenario consisted of the measurement of a NaCl solution as the electrolyte, which was related to the conductivity of the sample. The electronic reader continuously measured the current with a transfer function gain of 1.012 V mA−1. The overall system exhibited a maximum coefficient of variation of 6.1%, which was an improvement compared with the state-of-the-art. The proof of concept of this electronics system was validated with a maximum power consumption of 5.8 μW using commercial-off-the-self parts.

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.

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