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8 April 2010 Development of a polymeric capacitive 3-D tactile sensor
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In this paper, we present a novel polymeric 3-D tactile sensor. The tactile sensor comprises of a flexible quad capacitor array where three axial forces can be measured from the sensors' relative areas and gap distances changes using a simple differential equation. To improve the overall performance of the sensor, several high dielectric polymers were developed so that a smaller sensor area (< 1×1cm2) can be achieved. A specially designed LC circuit was also developed to improve the capacitance detection. With the current configuration, the sensor is capable of detecting forces in any arbitrary direction with a sensitivity of 0.1N and a force range up to 45N.
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Jen-Hsuan Ho, Alex Perez, and Wei-Chih Wang "Development of a polymeric capacitive 3-D tactile sensor", Proc. SPIE 7650, Health Monitoring of Structural and Biological Systems 2010, 76501S (8 April 2010);

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