The Design and Characterization of a Flexible Tactile Sensing Array for Robot Skin

In this study, a flexible tactile sensing array based on a capacitive mechanism was designed, fabricated, and characterized for sensitive robot skin. A device with 8 × 8 sensing units was composed of top and bottom flexible polyethyleneterephthalate (PET) substrates with copper (Cu) electrodes, a po...

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Detalles Bibliográficos
Autores principales: Ji, Zhangping, Zhu, Hui, Liu, Huicong, Liu, Nan, Chen, Tao, Yang, Zhan, Sun, Lining
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2016
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5190982/
https://www.ncbi.nlm.nih.gov/pubmed/27897993
http://dx.doi.org/10.3390/s16122001
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author Ji, Zhangping
Zhu, Hui
Liu, Huicong
Liu, Nan
Chen, Tao
Yang, Zhan
Sun, Lining
author_facet Ji, Zhangping
Zhu, Hui
Liu, Huicong
Liu, Nan
Chen, Tao
Yang, Zhan
Sun, Lining
author_sort Ji, Zhangping
collection PubMed
description In this study, a flexible tactile sensing array based on a capacitive mechanism was designed, fabricated, and characterized for sensitive robot skin. A device with 8 × 8 sensing units was composed of top and bottom flexible polyethyleneterephthalate (PET) substrates with copper (Cu) electrodes, a polydimethylsiloxane (PDMS) dielectric layer, and a bump contact layer. Four types of microstructures (i.e., pyramids and V-shape grooves) atop a PDMS dielectric layer were well-designed and fabricated to enhance tactile sensitivity. The optimal sensing unit achieved a high sensitivity of 35.9%/N in a force range of 0–1 N. By incorporating a tactile feedback control system, the flexible sensing array as the sensitive skin of a robotic manipulator demonstrated a potential capability of robotic obstacle avoidance.
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spelling pubmed-51909822017-01-03 The Design and Characterization of a Flexible Tactile Sensing Array for Robot Skin Ji, Zhangping Zhu, Hui Liu, Huicong Liu, Nan Chen, Tao Yang, Zhan Sun, Lining Sensors (Basel) Article In this study, a flexible tactile sensing array based on a capacitive mechanism was designed, fabricated, and characterized for sensitive robot skin. A device with 8 × 8 sensing units was composed of top and bottom flexible polyethyleneterephthalate (PET) substrates with copper (Cu) electrodes, a polydimethylsiloxane (PDMS) dielectric layer, and a bump contact layer. Four types of microstructures (i.e., pyramids and V-shape grooves) atop a PDMS dielectric layer were well-designed and fabricated to enhance tactile sensitivity. The optimal sensing unit achieved a high sensitivity of 35.9%/N in a force range of 0–1 N. By incorporating a tactile feedback control system, the flexible sensing array as the sensitive skin of a robotic manipulator demonstrated a potential capability of robotic obstacle avoidance. MDPI 2016-11-25 /pmc/articles/PMC5190982/ /pubmed/27897993 http://dx.doi.org/10.3390/s16122001 Text en © 2016 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC-BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Ji, Zhangping
Zhu, Hui
Liu, Huicong
Liu, Nan
Chen, Tao
Yang, Zhan
Sun, Lining
The Design and Characterization of a Flexible Tactile Sensing Array for Robot Skin
title The Design and Characterization of a Flexible Tactile Sensing Array for Robot Skin
title_full The Design and Characterization of a Flexible Tactile Sensing Array for Robot Skin
title_fullStr The Design and Characterization of a Flexible Tactile Sensing Array for Robot Skin
title_full_unstemmed The Design and Characterization of a Flexible Tactile Sensing Array for Robot Skin
title_short The Design and Characterization of a Flexible Tactile Sensing Array for Robot Skin
title_sort design and characterization of a flexible tactile sensing array for robot skin
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5190982/
https://www.ncbi.nlm.nih.gov/pubmed/27897993
http://dx.doi.org/10.3390/s16122001
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