Integrated dynamic and static tactile sensor: focus on static force sensing

Nicholas Wettels; Baruch Pletner

doi:10.1117/12.917391

6 April 2012 Integrated dynamic and static tactile sensor: focus on static force sensing

Nicholas Wettels, Baruch Pletner

Proceedings Volume 8345, Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2012; 83454H (2012) https://doi.org/10.1117/12.917391
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2012, San Diego, California, United States

Abstract

Object grasping by robotic hands in unstructured environments demands a sensor that is durable, compliant, and responsive to static and dynamic force conditions. In order for a tactile sensor to be useful for grasp control in these, it should have the following properties: tri-axial force sensing (two shear plus normal component), dynamic event sensing across slip frequencies, compliant surface for grip, wide dynamic range (depending on application), insensitivity to environmental conditions, ability to withstand abuse and good sensing behavior (e.g. low hysteresis, high repeatability). These features can be combined in a novel multimodal tactile sensor. This sensor combines commercial-off-the-shelf MEMS technology with two proprietary force sensors: a high bandwidth device based on PZT technology and low bandwidth device based on elastomers and optics. In this study, we focus on the latter transduction mechanism and the proposed architecture of the completed device. In this study, an embedded LED was utilized to produce a constant light source throughout a layer of silicon rubber which covered a plastic mandrel containing a set of sensitive phototransistors. Features about the contacted object such as center of pressure and force vectors can be extracted from the information in the changing patterns of light. The voltage versus force relationship obtained with this molded humanlike finger had a wide dynamic range that coincided with forces relevant for most human grip tasks.

Citation Download Citation

Nicholas Wettels and Baruch Pletner "Integrated dynamic and static tactile sensor: focus on static force sensing", Proc. SPIE 8345, Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2012, 83454H (6 April 2012); https://doi.org/10.1117/12.917391

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