Tactile sensor

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 ,

Different types of tactile sensors

Optical
Piezoelectric
Strain gage
Resistive
Capacitive
Magnetic
Ultrasonic
SAW

Optical tactile sensor

Equipped with :
Optical wave guide plate
made of acrylic
An array of feelers
A soft rubber at the
surface
A light source
A CCD camera

A three_ axis optical tactile sensor

Three _axis tactile sensor

mounted on a robot manipulator

An image based model

diameter 2cm,length 6:2cm,
High accurately
contact localization, contact depth
and curvature discrimination
Error < 0.1mm over a 4cm^2 area,
while the spatial resolution is
better than 2mm.

Harvard University

Piezoelectric tactile sensor

Varies types of them use the principle of :
change in the piezoelectric resonance
frequency of a poled ceramic with the
applied stress.
Changes in resistance of the material
Changes in electric charge

A simple model
Structure & Principle:
A thin film of the piezoelectric
material covered with two
conductive layers.
Assuming uniform pressure distribution

A= the area of the contact :

Tactile Sensor Based on

Piezoelectric Resonance
Principle:
The resonance frequency of the
resonating material :
t = Thickness of the pizo.material.
f0 = Natural mechanical resonance
frequency.
K = Stiffness constant of the material.
p = Density of the material.
A = Constant.
F = Applied force.
Hence:

Design and Preparation

Structure:
the PZT material thickness
1 mm ,diameter 20mm
resonance frequency
~1M Hz.

Advantage:
Getting a Contour of the object.

spatial resolution:
improves by increasing the
number of array electrodes

Ultrasonic tactile sensor

A thin deformable rubber
pad & two-dimensional
array of ultrasonic TX &
RX for measuring the
thickness of the rubber.
Cross-field switching:
using PVDF layers.
Bi-layer technique
Calibration

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

combination of static foil sensors and

dynamic hair sensors.
The analog sensors are coupled to an
8-bit controller, which uses a multiplexer
, a sample-hold circuit and analog-digital
converter for storing the latest sensor data.
The controller is equipped with a CAN-bus interface

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

20, 80, or 200 psi.

Spatial Resolution

2, 2.5, or 3.8 mm

ADC Range & Resolution

System Resolution
Non-Linearity

5 V, 12-bit
0.01 psi.
1.0%

Scale Factor Non-Repeatability

0.3% RMS

Bias Non-Repeatability

0.6% RMS

Baseline Temperature Stability

-0.7%/10C

Fingertip System

C-2000

Full Scale Range (FSR)

5-60 psi.

Overpressure Value

100 psi.

System Resolution

0.005 psi.

Non-Linearity

0.1%

Scale Factor Non-Repeatability 0.1% RMS

Bias Non-Repeatability

0.4% RMS

Baseline Temperature Stability

-6.6%/10C