A Flexible Capacitive 3D Tactile Sensor With Cross-Shaped Capacitor Plate Pair and Composite Structure Dielectric

Liu, Yulu; Wo, Hualei; Huang, Shuyi; Huo, Yanyan; Xu, Hongsheng; Zhan, Shijie; Li, Menglu; Zeng, Xiangyu; Jin, Hao; Zhang, Lei; Wang, Xiaozhi; Dong, Shurong; Luo, Jun; Kim, Jong Min

doi:10.1109/jsen.2020.3021010

Cited by 31 publications

(17 citation statements)

References 34 publications

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“…The sensor has the advantages of high sensitivity, fast response and high resolution, and due to the unique structure, it can detect force more evenly. However, this sensor has a smaller range than other capacitive tactile sensors and therefore has limitations in medical applications [5].…”

Section: Capacitive Type Tactile Sensorsmentioning

confidence: 99%

A review of tactile sensors used in surgical robots

Dong

Huo²

2023

Second International Conference on Biological Engineering and Medical Science (ICBioMed 2022)

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Applications of robotics-assist surgeries developed rapidly in worldwide biomedical research. Haptic and force feedback is one of the main challenges in current research on surgical robotics. Lack of proper haptic and force feedback in roboticassist surgeries will limit the movement and affect the doctors' judgement. Force sensors play an essential role when collecting and transporting feedback signals, and different sensors have their respective advantages and disadvantages. Based on the haptic and force feedback background related to surgical robots, this article will introduce the main features of different force sensors, including but not limited to traditional sensors like optical-based and recent-developed on-skin sensors. This article will also discuss further how the precision and stability of haptic feedback could be improved and the possible applications of new haptic and force feedback technologies in future studies.

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Section: Capacitive Type Tactile Sensorsmentioning

confidence: 99%

A review of tactile sensors used in surgical robots

Dong

Huo²

2023

Second International Conference on Biological Engineering and Medical Science (ICBioMed 2022)

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“…Among all the sensing mechanisms, piezocapacitive sensors are quite suitable for applications in robotic tactile sensing due to their simpler structure, easier integration, and lower power consumption. Most of the existing capacitive triaxial sensors adopt a structure with a top bump covering a 2 Â 2 capacitor array, [17,24,25,30] in which the external force applied to the top bump causes the capacitance changes. The magnitude and direction of the force could be analyzed by the difference in the value DOI: 10.1002/aisy.202200321 Tactile sensor capable of detecting both normal and tangential forces is essential for the next-generation robotic electronics.…”

Section: Introductionmentioning

confidence: 99%

A New Force‐Decoupling Triaxial Tactile Sensor Based on Elastic Microcones for Accurately Grasping Feedback

Zhang

et al. 2023

Advanced Intelligent Systems

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Tactile sensor capable of detecting both normal and tangential forces is essential for the next‐generation robotic electronics. However, designing a reliable triaxial tactile sensor to decouple the normal and tangential forces is still a challenge for current research. Herein, a capacitive triaxial force sensor based on a microcone dielectric layer together with the force decoupling method is proposed. The lateral and vertical displacement of the top electrode relative to the bottom electrodes under the action of external forces can be perfectly detected according to the capacitance variations. The microcone‐structured sensor combined with the new decoupling method leads to a high sensitivity of 3.5 kPa−1 for normal force in a low‐pressure range of 0––50 Pa and 0.134 N−1 for tangential force in 0–0.5 N, and a fast response time of 26 ms. The sensors mounted on the fingers of a robotic arm can provide effective tactile information during the grasping task. Finally, a conceptual 3 × 3 tactile sensor array is fabricated and verified for spatial pressure mapping. This work provides new insight into piezocapacitive tactile sensor design and shows its great potential in robotic applications.

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“…The working principle of a flexible force sensor is to convert the deformation of elastic sensitive element caused by applied forces into electrical signals that can be directly detected. Common types of force sensors include resistive [6], capacitive [7][8], piezoelectric [9], magnetic [10][11] etc. In order to detect forces in different directions, a 3-axis force sensor typically consists of multiple (at least three) sensing units.…”

Section: Introductionmentioning

confidence: 99%