TY - GEN
T1 - A flexible capacitive tactile sensor for robot skin
AU - Ji, Zhangping
AU - Zhu, Hui
AU - Liu, Huicong
AU - Chen, Tao
AU - Sun, Lining
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/10/21
Y1 - 2016/10/21
N2 - This paper presents a flexible capacitive sensor array which can be attached on robot arm for tactile force measurement. We designed and fabricated three types of sensor array in different dimensions. The sensor array with 4×4 tactile units is made of copper and PDMS based on PET substrate. The static characteristics are performed and it is found that the sensor array with 3×3 mm2 unit size is the optimal one among these three types. The sensitivity of the optimal sensing unit is 0.84%/N in a force range of 0-3.7 N. In order to achieve the controlling of robot motion, we developed a capacitance detection circuit to transfer the capacitance change to voltage variation. Furthermore, a tactile feedback and signal acquisition system is built up for the application of robotic obstacle avoidance.
AB - This paper presents a flexible capacitive sensor array which can be attached on robot arm for tactile force measurement. We designed and fabricated three types of sensor array in different dimensions. The sensor array with 4×4 tactile units is made of copper and PDMS based on PET substrate. The static characteristics are performed and it is found that the sensor array with 3×3 mm2 unit size is the optimal one among these three types. The sensitivity of the optimal sensing unit is 0.84%/N in a force range of 0-3.7 N. In order to achieve the controlling of robot motion, we developed a capacitance detection circuit to transfer the capacitance change to voltage variation. Furthermore, a tactile feedback and signal acquisition system is built up for the application of robotic obstacle avoidance.
KW - capacitive sensor array
KW - flexible electronics
KW - robot skin
KW - robotic obstacle avoidance
UR - https://www.scopus.com/pages/publications/84998678851
U2 - 10.1109/ICARM.2016.7606920
DO - 10.1109/ICARM.2016.7606920
M3 - 会议稿件
AN - SCOPUS:84998678851
T3 - ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics
SP - 207
EP - 212
BT - ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016
Y2 - 18 August 2016 through 20 August 2016
ER -