Development of an Arrayed Tactile Sensor Having Four Stories and Recognition of Contact State Using Neural Networks

Abstract

Table 2. Results of object shape recognition (four stories sensor) Unknown input Output Circle Doughnut Ellipse Octagon Square

Flexible Tactile Sensor Using Polyurethane Thin Film

“…This value is more than ten times larger compared to a sensitivity of tactile sensor made of PDMS [12]. pF/Pa (800 pF/N considering sensing area) when the applied pressure is smaller than approximately 0.8 kPa.…”

“…For example, we have not yet evaluated the change in the mechanical properties of the sensor after exposure to moisture. A stability check against ambient humid condition is the projected work in future, since it is known polyurethane absorbs moisture [12]. As another example, surface roughness of polyurethane should be precisely evaluated using an atomic force microscope (AFM), etc.…”

Recognition of Contact State of Four Layers Arrayed Type Tactile Sensor by Using Neural Networks

“…Imitating the human skin structure, a flexible arrayed type tactile sensor having four layers is under development using micromachining technology (Aoyagi & Tanaka, 2007;Ono et al, 2008). The fabrication process of this sensor is shown in Fig.…”

“…Tactile sensors proposed and developed based on micromachining are classified to piezoresistive (Kobayashi & Sagisawa, 1991;Ohka et al, 1990;Horie et al, 1995;Nguyen et al, 2004;Takao et al, 2005) and capacitive (Esashi et al, 1990;Kane et al, 2000;Suzuki et al, 1990;Lee et al, 2006). In dynamic measurement, piezoelectric type is also applicable (Yagi, 1991;Matsushita et al, 2004 Izutani et al, 2004;Aoyagi et al, 2005) and a flexible tactile sensor of arrayed capacitive type (Aoyagi & Tanaka, 2007;Ono et al, 2008), which are described in the next section in detail. In the reported micromachined tactile sensors, the force sensing elements are distributed two dimensionally on a surface.…”

Proposal and development of arrayed sole sensor for legged robot and contact force detection using neural networks

“…The structural material of it is polydimethylsiloxane (PDMS), which is a kind of silicone rubber [2], so the sensor is flexible to fit the surface of robot finger, robot sole, etc. The sensor is composed of arrayed sensing elements, each of which detects its capacitance change with respect to the displacement of the sensing surface in z (vertical) direction.…”