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Tactile and Proximity Sensor


 

- OVER VIEW -

   The tactile proximity sensor provides pressure and contact location information on the curved surface of the robot arm or end-effector in contact with the distance, depending on the object. This sensor is divided into electrodes and a dielectric layer. The electrodes measure inductance using two coplanar electrodes. Also, it can be attached to the curved surface through the FPCB(Flexible Printed Circuit Board). The dielectric layer can be deformed even on curved surfaces, which makes it easy to attach. CMC (carbon microcoils) elastic dielectrics maximize sensing information and protect exposed electrodes. CMC is an acronym for Carbon Microcoils, which is made up of micrometric aggregates and formed into a spiral shape. This shape requires sensing using a specific impedance.

 


Principle of Sensring Mode for Measuring


   The mode of the sensor is divided into proximity to the tactile sense, sequential sensing is performed, and different impedance values are read. As the object approaches for the first time, the sensor reads the surrounding inductance value and senses the distance and achieves proximity sensing. Second, the sensing mode changes from a moment when it touches the dielectric layer to the tactile sensor, and the capacitance between the structures of Tx and Rx is measured to measure the pressure of the object.


The Fabrication Process and The Structure Characteristic


   Production is simple. One CMC sensor consists of FPCB, CMC composite, and silicone. Custom made FPCB and dielectric layer base for flexible sensors are used to form a final sensor structure by punching a silicon sheet with a smaller elasticity (softer) than the CMC composite and then injecting a CMC composite with impedance characteristics into the silicon gap


The Dual Sensing Result of Tactile and Proximity


 

   Experimental results were obtained by using dual mode sensor. In step 1, when the finger approaches the sensor, the inductance changes according to the distance, and the measurement mode changes when the step goes to step 2. Then measure the change in capacitance according to the pressure received by the sensor. It can be seen that the process of returning has the opposite effect of the amount of data change as in the case of changing from step 1 to step 2.

 


Publications


 

  1. • T. D. Nguyen, T. S. Kim, H. S. Han, H. Y. Shin, C. T. Nguyen, H. Phung, H. R. Choi, (2018), "Characterization and Optimization of Flexible Dual Mode Sensor Based on Carbon Micro Coils", vol.5, no.1
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  1. • H. S. Han, J. Park, T. D. Nguyen and H. R. Choi, “A flexible dual mode tactile and proximity sensor using carbon microcoils,” Electroactive polymer actuators and devices (EAPAD) 2016, Proceedings of SPIE Vol. 9798, 979838-7, 2016
  2.  
  3. • H. S. Han, J. Park, T. D. Nguyen and H. R. Choi, “Carbon Microcoils를 이용한 듀얼 모드 촉각 근접 센서”, 제11회 한국로봇종합학술대회 2016
  4.  
  5. • H. S. Han, J. Park, T. D. Nguyen, U. Kim, C. T. Nguyen, H. Phung, H. R. Choi, “A highly sensitive dual mode tactile and proximity sensor using Carbon Microcoils for robotic applications“, Robotics and Automation (ICRA), 2016 IEEE International Conference on, 2016(5), pp 97~pp102, 2016
  6.  
  7. • J. Park, T. D. Nguyen; U. Kim; D. H. Lee; C. T. Nguyen; H. Phung; J. D. Nam; J. C. Koo; H. Moon; J. C. Koo; H. R. Choi., “design and Fabrication of Stretchable Proximity-Tactile Sensor Using Carbon Micro Coils”, Electroacitive polymer actuators and devices (EAPAD) 2015, Proceedings of SPIE Vol. 9430, 2015
  8.  
  9. • 박준우, 이동혁, Tien Dat Nguyen, Hoa Phung, 이충한, 김의겸, 구자춘, 문형필, 최혁렬, “힘 및 접촉 센싱에 관한 연구”, 제9회 한국로봇종합학술대회, 2014
  10.  
  11. • Tien Dat Nguyen, J. Park; C. H. Lee; C. T. Nguyen; D. H. Lee; U. Kim; H. Phung; J. D. Nam; J. C. Koo; H. Moon; H. R. Choi, “Highly sensitive proximity and tactile sensor based on composite with dielectric elastomer and Carbon Microcoils”, Electroacitive polymer actuators and devices (EAPAD) 2014
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  13. • Tien Dat Nguyen, C. T. Nguyen; D. H. Lee; U. Kim; C. H. Lee; J. D. Nam; H. R. Choi, “Highly stretchable dielectric elastomer material based on acrylonitrile butadiene rubber”, Macromolecular research, 22(11), pp1170~pp1177, 2014
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Project


 

  • • 산업통상자원부
    • 0~3kg/cm2 범위의 응력 검출 가능한 대면적 촉각 센서용 복합 소재 제조 기술 개발

 


Researcher


Nguyen Tien Dat, Junwoo Park, Hyo Seung Han, Hyeon Yeong Shin, Ji Ho Noh, Jin Sol Kim, Ye Eun Kim