Three-Axis Contact Force Measurement of a Flexible Tactile Sensor Array for Hand Grasping Applications
This chapter explores the development of a flexible tactile sensor array based on pressure conductive rubber for three-axis force measurement in grasping application. The structural design, testing principle, fabrication process, and characterization of t
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Abstract This chapter explores the development of a flexible tactile sensor array based on pressure conductive rubber for three-axis force measurement in grasping application. The structural design, testing principle, fabrication process, and characterization of the tactile sensor array are presented. Three-axis force measurement performances for all nine sensing units have been carried out. The full-scale force measurement ranges of the tactile sensor array in x-, y- and z-axis are 5, 5, and 20 N, respectively. The corresponding sensitivities in x- and y-axis are 0.838 and 0.834 V/N, respectively. In z-axis, the sensor array has two sensitivities: 0.3675 V/N for 0–10 N and 0.0538 V/N for 10–20 N measurement ranges. Then, the tactile sensor array has been mounted onto a human hand finger and used to measure the real-time 3D contact forces during grasping application. Results showed that the developed tactile sensor array features high sensitivities and has the potential for real-time tactile images for gripping positioning and 3D grasping force feedback control in grasping applications. Keywords Three-axis force rubber Grasping
Flexible tactile sensor array Pressure conductive
1 Introduction Recently, tactile sensor arrays have been widely utilized in medical surgery and robotic manipulations. For prosthetic hand grasping application, tactile sensor arrays with high flexibility and real-time 3D contact force measurement abilities are Y. Wang (&) K. Xi D. Mei Z. Xin Z. Chen Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China e-mail: [email protected] Y. Wang D. Mei Z. Chen State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China © Zhejiang University Press and Springer Science+Business Media Singapore 2017 C. Yang et al. (eds.), Wearable Sensors and Robots, Lecture Notes in Electrical Engineering 399, DOI 10.1007/978-981-10-2404-7_6
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generally required. They can provide real-time distributed contact force measurement; generate tactile images for grasping positioning, object’s shape and/or surface texture recognition (Tiwana et al. 2011). For the development of tactile sensor array, there are several types of sensing principles, including piezoresistive (Zhang et al. 2015), piezoelectric (Dahiya et al. 2009), capacitive (Wang et al. 2014; Liang et al. 2015), optical (Hoshino and Mori 2008), organic filed effect transistors (OFETs). Among these sensing principles, piezoresistive tactile sensor array based on pressure conductive rubber, usually features good resolutions and linearity, and low cost fabrication, has been widely utilized. INASTOMER pressure conductive rubber, using it as the sensing material, has been utilized to develop the pressure sensor for normal force and slip detection (Xi et al. 2015). In this paper, we also utilized this conductive rubber as the sensing material to deve
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