Cantilever-Based Tactile Sensor with Improved Sensitivity for Dimensional Metrology of Deep Narrow Drillings

Ruther, Patrick; Spinner, S.; Cornils, M.; Oliver, Paul

doi:10.1109/sensor.2007.4300422

Cited by 7 publications

(2 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A mathematical objective function that corresponded to sensor accuracy was applied to design an optimal multi-axis force sensor [19]. Then, in the design of a cantilever-based tactile sensor with a piezoresistive stress sensing element, force sensitivity was optimised by introducing a nonconducting island in a p-well [20]. In [21], finite element (FE) analysis was applied to a tactile sensor based on optoelectronic technology to select the optimal sensor geometry sensitive to contact forces.…”

Section: Related Workmentioning

confidence: 99%

Geometry Optimisation of a Hall-Effect-Based Soft Fingertip for Estimating Orientation of Thin Rectangular Objects

Rosle

Wang

Hirai

2019

Sensors

View full text Add to dashboard Cite

Soft tactile sensors have been applied to robotic grippers for assembly. It is a challenging task to obtain contact information and object orientation using tactile sensors during grasping. Currently, the design of Hall-effect-based tactile sensors to perform such tasks is based on trial and error. We present a method of investigating the optimal geometrical design of a cylindrical soft sensor to increase its sensitivity. The finite element model of a soft fingertip was constructed in Abaqus with two design variables, i.e., hollow radius and magnet position. Then, the model was imported into Isight, with the maximisation of magnet displacement as the objective function. We found that the optimal design was at the boundary of the parameter design space. Four fingertips were fabricated with one intuitive, one optimal, and two optional sets of parameters. Experiments were performed, and object orientation was estimated by utilising linear approximation and a machine learning approach. Good agreements were achieved between optimisation and experiments. The results revealed that the estimated average error in object orientation was decreased by the optimised fingertip design. Furthermore, the 3-axis forces could successfully be estimated based on sensor outputs.

show abstract

Section: Related Workmentioning

confidence: 99%

Geometry Optimisation of a Hall-Effect-Based Soft Fingertip for Estimating Orientation of Thin Rectangular Objects

Rosle

Wang

Hirai

2019

Sensors

View full text Add to dashboard Cite

show abstract

“…Axial loading results from moving the cantilever with its free end against a fixed body. Three modes of deflection of an axially loaded cantilever which have been implemented in MEMS technology (Beyeler et al, 2008;Ruther et al 2007;Samuel et al, 2006) are schematically shown in Fig. 4 where cantilevers fixed to a support by clamping (left), a hinge (middle) and a spring (right) are depicted.…”

Section: Axial Loadingmentioning

confidence: 99%