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Tactile Sensors
Tactile Sensors
Tactile Sensors
INTRODUCTION
Goal:
Measurmeant the parameters of contact
between the sensor and an object such as
the spatial distribution of forces.
Areas in use:
Most important of robotic sensory systems
Agriculture ,Bio medical ,
Optical
Piezoelectric
Strain gage
Resistive
Capacitive
Magnetic
Ultrasonic
SAW
Harvard University
A simple model
Structure & Principle:
A thin film of the piezoelectric
material covered with two
conductive layers.
Assuming uniform pressure distribution
Advantage:
Getting a Contour of the object.
spatial resolution:
improves by increasing the
number of array electrodes
Resolution
256 elements
1.15x1.15
Counter freq
80 MHz
A biosensor
AXIOM company
Venus Handy
Frequency: 57 kHz
dubbed Venustron
measurementof the elasticity of skin and muscle
tactile, pressure, and displacement sensor.
Medical tactile .inc (MTI)
detection of cancer
four times as sensitive as
human touch
Harvard University
Tactile Sensor
T-2000
a two-dimensional array of
pressure sensing elements
The sensor elements can
be spaced as close as2 mm
high accuracy. 4x4, 8x8, and 16x16
ideal for tactile pplications
Full Scale Range (FSR)
3, 12, or 30 psi.
Overpressure Value
Spatial Resolution
2, 2.5, or 3.8 mm
5 V, 12-bit
0.01 psi.
1.0%
0.3% RMS
Bias Non-Repeatability
0.6% RMS
-0.7%/10C
Fingertip System
C-2000
5-60 psi.
Overpressure Value
100 psi.
System Resolution
0.005 psi.
Non-Linearity
0.1%
0.4% RMS
-6.6%/10C