A novel tactile sensor system for heavy-load applications based on an integrated capacitive pressure sensor

Paschen, Uwe; Leineweber, M.; Amelung, J.; Schmidt, Michael; Zimmer, G.

doi:10.1016/s0924-4247(98)00021-1

Cited by 30 publications

(14 citation statements)

References 11 publications

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“…Many different approaches have been proposed to fabricate these sensors, most of them are based on piezoresistive (Engel et al 2006; Kane et al 2000;Mei et al 2000;Lomas et al 2004;Kim et al 2006;Wisitsoraat et al 2007; Shan et al 2005) or capacitive (Salo et al 2003;Leineweber et al 2000;Paschen et al 1998;Gray and Fearing 1996;Lee et al 2006; http://pressureprofile.com/products-robotouch) principles, and a few are based on optical (Hellard and Russell 2006) or piezoelectrical transduction (Dahiya et al 2007). Most of these sensors are made using technologies for Micro-ElectroMechanical Systems (MEMS) on silicon (Kane et al 2000;Lomas et al 2004; Salo et al 2003) or on polymers (Engel et al 2006;Kim et al 2006; Lee et al 2006).…”

Section: Introductionmentioning

confidence: 99%

“…Sensors that cover larger areas and have also wider input ranges can be obtained by arranging single force sensors on a -usually-flexible substrate (Mei et al 2000; Shan et al 2005; Paschen et al 1998), but this increases costs because many instances of these force sensors are needed and because they must be assembled on the substrate. To lower the cost of the sensor it is better to obtain the whole array in the batch fabrication process minimizing further assembly of separate components.…”

Section: Introductionmentioning

confidence: 99%

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Tactile sensors based on conductive polymers

Castellanos-Ramos

Navas-González

Macicior³

et al. 2009

SPIE Proceedings

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This paper presents results from a selection of tactile sensors that have been designed and fabricated. These sensors are based on a common approach that consists in placing a sheet of piezoresistive material on the top of a set of electrodes. We use a thin film of conductive polymer as the piezoresistive material. Specifically, a conductive water-based ink of this polymer is deposited by spin coating on a flexible plastic sheet, giving it a smooth, homogeneous and conducting thin film. The main interest in this procedure is that it is cheap and it allows the fabrication of flexible and low cost tactile sensors. In this work we present results from sensors made using two technologies. Firstly, we have used a flexible Printed Circuit Board (PCB) technology to fabricate the set of electrodes and addressing tracks. The result is a simple, flexible tactile sensor. In addition to these sensors on PCB, we have proposed, designed and fabricated sensors with screen printing technology. In this case, the set of electrodes and addressing tracks are made by printing an ink based on silver nanoparticles. The intense characterization provides us insights into the design of these tactile sensors.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Tactile sensors based on conductive polymers

Castellanos-Ramos

Navas-González

Macicior³

et al. 2009

SPIE Proceedings

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“…͑v͒ Capacitive sensors [6][7][8][9] have a nonlinear behavior, could be assembled in a matrix to measure static force distributions, but have limited dynamic response.…”

Section: Introductionmentioning

confidence: 99%

Development of a film sensor for static and dynamic force measurement

Castellini

Montanini

Revel

2002

Review of Scientific Instruments

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In this work an innovative double-layer film sensor for the measurement of forces is presented. The sensor is a thin film (thickness below 1 mm) based on a “sandwich” structure composed of two sensing elements glued together: one layer is a capacitive film and the other is a piezoelectric film. Both the layers are sensitive to compression loads, but they are suitable for working in different frequency ranges. In fact, while the capacitive element is capable of measuring from dc up to about 400 Hz, on the contrary the piezoelectric film works in the high frequency range. The output signals of both the sensors are acquired and then filtered and processed in order to achieve a single output signal. The piezocapacitive sensor has been developed in order to synthesize, in a small and cheap device, the capability to measure compression forces in a wide range of frequencies. The sensor is very small and has many potential applications, such as in the field of modal analysis. In particular, the very small thickness allows to insert it into a composite material to measure actual loads and excitations, as well as on the surface or between different components of a more complex system in order to obtain a smart structure. This article describes the realization of the sensor and the adopted signal processing strategies. The metrological characterization procedure is discussed and results are shown for both static and dynamic calibration of the film sensor. Finally, a simple application, that highlights the benefits of the sensor, is presented.

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“…Some implement the signal conditioning circuitry in the same substrate [10] [11], which is a first step to reduce the errors and easy the reading of dense arrays. This first step is possible due to technologies that allow the implementation of the sensor and the circuitry in the same substrate.…”

Section: Introductionmentioning

confidence: 99%

Tactile on-chip pre-processing with techniques from artificial retinas

et al. 2005

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The interest in tactile sensors is increasing as their use in complex unstructured environments is demanded, like in telepresence, minimal invasive surgery, robotics etc. The matrix of pressure data these devices provide can be managed with many image processing algorithms to extract the required information. However, as in the case of vision chips or artificial retinas, problems arise when the array size and the computation complexity increase. Having a look to the skin, the information collected by every mechanoreceptor is not carried to the brain for its processing, but some complex pre-processing is performed to fit the limited throughput of the nervous system. This is specially important for high bandwidth demanding tasks. Experimental works report that neural response of skin mechanoreceptors encodes the change in local shape from an offset level rather than the absolute force or pressure distributions. This is also the behavior of the retina, which implements a spatio-temporal averaging. We propose the same strategy in tactile preprocessing, and we show preliminary results when it faces the detection of the slip, which involves fast real-time processing.

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A novel tactile sensor system for heavy-load applications based on an integrated capacitive pressure sensor

Cited by 30 publications

References 11 publications

Tactile sensors based on conductive polymers

Tactile sensors based on conductive polymers

Development of a film sensor for static and dynamic force measurement

Tactile on-chip pre-processing with techniques from artificial retinas

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