POSFET devices based tactile sensing arrays

Dahiya, Ravinder; Lorenzelli, Leandro; Metta, Giorgio; Valle, Maurizio

doi:10.1109/iscas.2010.5537414

Cited by 22 publications

(10 citation statements)

References 11 publications

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“…This work extends our research on POSFET touch sensing devices [3], [20] and arrays [21] towards tactile sensing system on the chip. The tactile sensing chip consists of 5 5 POSFET devices array and the integrated temperature sensors.…”

Section: Introductionsupporting

confidence: 59%

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Towards Tactile Sensing System on Chip for Robotic Applications

et al. 2011

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This paper presents the research on tactile sensing\ud system on chip. The tactile sensing chips comprise of 5 5 array\ud of Piezoelectric Oxide Semiconductor Field Effect Transistor\ud (POSFET) devices and temperature sensors. The POSFET devices\ud are obtained by spin coating piezoelectric polymer, poly(vinylidene\ud fluoride-trifluoroethylene) (P(VDF-TrFE)), films directly on to the\ud gate area of Metal Oxide Semiconductor (MOS) transistors. The\ud tactile sensing chips are able to measure dynamic contact forces\ud and temperatures. The readout and the data acquisition system\ud to acquire the tactile signals are also presented. The chips have\ud been extensively tested over wide range of dynamic contact forces\ud and temperatures and the experimental results are presented.\ud The paper also reports the research on tactile sensing chips with\ud POSFET array and the integrated electronics

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Section: Introductionsupporting

confidence: 59%

“…Keeping this in mind, the collective performance of the chip was evaluated by rolling a probe manually over its diagonal taxels (i.e., POSFETs) on the array [21]. The probe used in this experiment consists of a ring bearing which is 3 mm wide and has outer diameter equal to 1.5 cm.…”

Section: B Measurements Using Multiple Posfet Tactile Devicesmentioning

confidence: 99%

Towards Tactile Sensing System on Chip for Robotic Applications

et al. 2011

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“…The 5 Â 5 POSFET tactile sensing arrays, partly shown in Figure 4.5(a), have been designed to have spatial resolution and acuity similar to that of human fingertips. The MOS part of the POSFET touch sensing devices is obtained by using the n-MOS technological module of a nonstandard CMOS (Dahiya et al, 2010a). The center-center distance of 1.5 mm between two adjacent taxels in the initial version of POSFET chips ensured human-like spatial resolution.…”

Section: Posfet Tactile Arrays-design Fabrication and Evaluationmentioning

confidence: 99%

“…The variation among the responses of the taxels that are pressed is small. When such a stimulus (a ring-shaped probe rolled over the diagonal elements of the array) was applied, the POSFETs yielded good results (Dahiya et al, 2010a)-thus demonstrating their capability to detect stimuli that vary both in time and space. Similar results are obtained by varying the frequency of applied sinusoidal normal forces.…”

Section: Posfet Tactile Arrays-design Fabrication and Evaluationmentioning

confidence: 99%

Biomimetic tactile sensing

Dahiya¹,

Oddo²,

Mazzoni³

et al. 2015

Biomimetic Technologies

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What would happen if we had all sense modalities but the "touch?" A simple experiment of manipulating objects after putting hands on an ice block for a moment can probably provide an answer to this question. In one such experiment, the skin on a volunteer's hand was anesthetized so that tactile information from mechanoreceptors-the specialized nerve endings that respond to mechanical stimulation-was no longer available to the brain (Westling and Johannson, 1984). It was observed that even though volunteers could see what they were doing, they could no longer maintain a stable grasp of the objects. This indicates that the movements become inaccurate and unstable in the absence of "sense of touch." The difficulties that humans could face in the absence of sense of touch also point toward the importance of touch sense modality in robots, especially when they are expected to work in a human environment.The touch sensing allows us to assess the size, shape, softness, and texture of objects. It helps us understand the interaction behaviors of the real world objects-which depend on their weight; stiffness; on how their surface feels when touched; how they deform on contact; and how they move when pushed. In applications such as robotics, tactile information is useful in a number of ways. In manipulative tasks, the tactile data are used as a control parameter and the tactile information typically includes contact point estimation, surface normal and curvature measurement, and slip detection (Fearing, 1990;Howe, 1994). A measure of the contact forces (both magnitude and direction) allows the grasp force control-needed to maintain stable grasps. In a real world interaction that involves, both, manipulative and exploratory tasks, the tactile information such as hardness/softness (Shikida et al., 2003), temperature, and vibrations are needed to understand diverse properties of the contacted objects.The need for suitable tactile sensing system in robotics has resulted in a large number of touch sensors and tactile sensing arrays by exploring nearly all modes of transduction, viz., resistive, capacitive, piezoelectric, magnetic, quantum tunneling, etc. (Dahiya et al., 2010b;Lee and Nicholls, 1999;Dahiya and Valle, 2013). Currently, many research groups are also working toward developing skin-like artificial systems for large area tactile sensing. However, the touch sensor technology developed so far is largely insufficient for robotics, even if there is significant success in other areas such as mobile telephony. This could be attributed to a number of factors such as availability of less than satisfactory sensory skins, insufficient methods of processing tactile data, the lack of systems approach, and the lack of mechanical flexibility and robust sensory structures. Often, tactile data are processed with techniques adapted from visual data processing, which may not be a correct approach as the touch sensing is distributed over a much broader area than vision. As a Biomimetic Technologies. http://dx.

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“…However, with care they can even be used to measure static loads [26]. There is also the possibility to integrate PVDF directly with MOS circuitry for miniaturization and high signal/noise ratio [27,28]. Local integration of amplifying elements could greatly reduce the complexity of wiring and readout electronics in this class of sensor.…”

Section: Developments In Robotic Dynamic Tactile Sensingmentioning

confidence: 99%

Dynamic Tactile Sensing

Cutkosky

Ulmen

2014

Springer Tracts in Advanced Robotics

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Dynamic tactile sensing is an important capability for interacting with the world to identify textures and identify contact events such as objects making and breaking contact with the skin and rolling or slipping on the fingers. It is also used for identifying friction between the fingers and a grasped object and regulating the grasp force accordingly. Humans are endowed with multiple types of mechanoreceptors capable of detecting dynamic events with frequencies in the tens or hundreds of Hz. Increasingly, robots are also being equipped with tactile sensors capable of detecting dynamic phenomena, using a variety of different transducers depending on application-specific design considerations. Advances in electronics have made it possible to do the requisite amplification, signal processing and communication within the hand, with improved performance and greatly reduced wiring in comparison to early efforts.

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POSFET devices based tactile sensing arrays

Cited by 22 publications

References 11 publications

Towards Tactile Sensing System on Chip for Robotic Applications

Towards Tactile Sensing System on Chip for Robotic Applications

Biomimetic tactile sensing

Dynamic Tactile Sensing

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