Precise Fabrication of Tactile Sensors using a Custom Additive Manufacturing Platform

Wei, Danming; Zhang, Ruoshi; Lin, Ji-Tzuoh; Ratnayake, Dilan; Olowo, Olalekan O.; Nimon, Andrew S.; Alqatamin, Moath; Sherehiy, Andriy; Popa, Dan O.

doi:10.21203/rs.3.rs-2431862/v1

Cited by 1 publication

(2 citation statements)

References 17 publications

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“…The results showed a significant reduction in fabrication time and improvements in yield and sensitivity. Other past research reported on the design and fabrication of single tactile strain gauges, using the principles of aerodynamics to precisely align atomized ink droplets on flexible substrates in the NeXus for sensor electrodes [46][47][48][49]. The tactile structures designed and fabricated are ideal for eliminating directional effect due to their circular topology, as characterized in [41,46], but become significantly less effective in a smaller, compact strain gauge size below 6 mm in diameter.…”

Section: Contributionsmentioning

confidence: 99%

“…The tactile sensor described in this paper increases the possibility of obtaining a higher spatial resolution due to its small and compact structure, which increases its ability to be condensed in given area when compared to [47]. Finally, to establish a dynamic relationship between the tactile sensory feedback and the indented force measured, we modeled the tactile feedback response data using the system identification framework.…”

Section: Contributionsmentioning

confidence: 99%

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Design, Fabrication, and Characterization of Inkjet-Printed Organic Piezoresistive Tactile Sensor on Flexible Substrate

Olowo,

Harris,

Sills

et al. 2023

Sensors

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In this paper, we propose a novel tactile sensor with a “fingerprint” design, named due to its spiral shape and dimensions of 3.80 mm × 3.80 mm. The sensor is duplicated in a four-by-four array containing 16 tactile sensors to form a “SkinCell” pad of approximately 45 mm by 29 mm. The SkinCell was fabricated using a custom-built microfabrication platform called the NeXus which contains additive deposition tools and several robotic systems. We used the NeXus’ six-degrees-of-freedom robotic platform with two different inkjet printers to deposit a conductive silver ink sensor electrode as well as the organic piezoresistive polymer PEDOT:PSS-Poly (3,4-ethylene dioxythiophene)-poly(styrene sulfonate) of our tactile sensor. Printing deposition profiles of 100-micron- and 250-micron-thick layers were measured using microscopy. The resulting structure was sintered in an oven and laminated. The lamination consisted of two different sensor sheets placed back-to-back to create a half-Wheatstone-bridge configuration, doubling the sensitivity and accomplishing temperature compensation. The resulting sensor array was then sandwiched between two layers of silicone elastomer that had protrusions and inner cavities to concentrate stresses and strains and increase the detection resolution. Furthermore, the tactile sensor was characterized under static and dynamic force loading. Over 180,000 cycles of indentation were conducted to establish its durability and repeatability. The results demonstrate that the SkinCell has an average spatial resolution of 0.827 mm, an average sensitivity of 0.328 mΩ/Ω/N, expressed as the change in resistance per force in Newtons, an average sensitivity of 1.795 µV/N at a loading pressure of 2.365 PSI, and a dynamic response time constant of 63 ms which make it suitable for both large area skins and fingertip human–robot interaction applications.

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