Three-dimensional force detection using PVDF and room temperature-vulcanized silicone rubber layers

Abstract

Three-dimensional force perception plays an extremely important role in human-computer interaction. The main objective of the present study is to propose a three-dimensional force detection sensor using room temperature-vulcanized (RTV) silicone rubber, polyvinylidene fluoride (PVDF), and a silver coating layer. The sensor was designed in a cylindrical structure to detect the tangential force. The performed analyses reveal that the silver coating layer improves the surface charge output of the PVDF film. The output peak voltage of the sensing unit is 271.7 % higher than that of the single PVDF film. The sensor has a response time of 40 ms. It is found that the angle detection error of the sensor along horizontal and vertical directions is less than 2.79° and 0.88°,respectively. In order to evaluate the performance of the proposed sensor, it is fixed on the mechanical hand to perform grasping and sliding tests. The tested results show that the proposed sensor can effectively identify the weight and slip of the object, and can be used in the field of manipulator clamping control.

River valley-inspired, high-sensitivity, and rapid-response capacitive three-dimensional force tactile sensor based on U-shaped groove structure

“…R 2 of the linear fitting curve is 0.98, signifying a good matching result between the measurement curve and the linear fitting one. R is defined as formula (5) where cov and D stand for the covariance and variance, respectively…”

“…A force sensor is a type of physical-electronic signal converter that mimics the receptors embedded in human skin and works to perceive force signals from the external environment [1,2]. For example, three-dimensional force (3D-force) sensors have promising applications in health monitoring [3,4], intelligent robotics [5][6][7][8][9][10], and healthcare [11]. It is characterized by the ability to perceive both normal and tangential forces at the same time, which are often present simultaneously in practical scenarios.…”