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.
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0~3kg/cm2 범위의 응력 검출 가능한 대면적 촉각 센서용 복합 소재 제조 기술 개발
Nguyen Tien Dat, Junwoo Park, Hyo Seung Han, Hyeon Yeong Shin, Ji Ho Noh, Jin Sol Kim, Ye Eun Kim