Development of a Tactile Sensor Array with Flexible Structure Using Piezoelectric Film

This research is the development of a flexible tactile sensor array for service robots using PVDF(polyvinylidene fluoride) film for the detection of a contact state in real time. The prototype of the tactile sensor which has 8X8 array using PVDF film was fabricated. In the fabrication procedure, the...

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Bibliographic Details
Published in:Journal of mechanical science and technology 2002-10, Vol.16 (10), p.1222-1228, Article 1222
Main Authors: YU, Kee-Ho, KWON, Tae-Gyu, YUN, Myung-Jong, LEE, Seong-Cheol
Format: Article
Language:English
Subjects:
Contact
Contact force
Digital signal processing
Digitization
Electrodes
Exact sciences and technology
Flexible structures
Floor coverings
Force distribution
General equipment and techniques
Instruments, apparatus, components and techniques common to several branches of physics and astronomy
Insulation
Personal computers
Physics
Piezoelectric films
Polyvinylidene fluorides
Sensor arrays
Sensors
Sensors (chemical, optical, electrical, movement, gas, etc.)
remote sensing
Service robots
Signal processing
Tactile
Tactile sensors (robotics)
Thickness
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Summary:This research is the development of a flexible tactile sensor array for service robots using PVDF(polyvinylidene fluoride) film for the detection of a contact state in real time. The prototype of the tactile sensor which has 8X8 array using PVDF film was fabricated. In the fabrication procedure, the electrode patterns and the common electrode of the thin conductive tape were attached to both sides of the 28/im thickness PVDF film using conductive adhesive. The sensor was covered with polyester film for insulation and attached to the rubber base for a stable structure. The proposed fabrication method is simple and easy to make the sensor. The sensor has the advantages in the implementing for practical applications because its structure is flexible and the shape of the each tactile element can be designed arbitrarily. The signals of a contact force to the tactile sensor were sensed and processed in the DSP system in which the signals are digitized and filtered. Finally, the signals were integrated for taking the force profile. The processed signals of the output of the sensor were visualized in a personal computer, and the shape and force distribution of the contact object were obtained. The reasonable performance for the detection of the contact state was verified through the sensing examples.
ISSN:1738-494X
1226-4865
1976-3824
DOI:10.1007/BF02983828