Towards Tactile Sensing System on Chip for Robotic Applications

Dahiya, Ravinder; Cattin, D.; Adami, Andrea; Collini, Cristian; Barboni, Leonardo; Valle, Maurizio; Lorenzelli, Leandro; Oboe, Roberto; Metta, Giorgio; Brunetti, Fulvio G.

doi:10.1109/jsen.2011.2159835

Cited by 135 publications

(67 citation statements)

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The CMOS implementation is useful as it allows implementation of on-chip electronics. In this regard, this work extends our previous work on the POSFET tactile sensing devices [10][11][12]. Previously the tactile sensing chips were developed with POSFET sensing device only.…”

Section: Introductionsupporting

confidence: 58%

POSFET tactile sensing arrays using CMOS technology

Dahiya

Adami

Collini

et al. 2013

Sensors and Actuators A: Physical

View full text Add to dashboard Cite

This work presents fabrication and evaluation of novel POSFET (Piezoelectric Oxide Semiconductor Field Effect Transistor) devices based tactile sensing chip. In the newer version presented here, the tactile sensing chip has been fabricated using CMOS (Complementary Metal Oxide Semiconductor) technology. The chip consists of 4 x 4 POSFET touch sensing devices (or taxels) and both, the individual taxels and the array are designed to match spatiotemporal performance of the human fingertips. To detect contact events, the taxels utilize the contact forces induced change in the polarization level of piezoelectric polymer (and hence change in the induced channel current of MOS). The POSFET device on the chip have linear response in the tested dynamic contact forces range of 0.01-3 N and the sensitivity (without amplification) is 102.4 mV/N.

show abstract

Section: Introductionsupporting

confidence: 58%

POSFET tactile sensing arrays using CMOS technology

Dahiya

Adami

Collini

et al. 2013

Sensors and Actuators A: Physical

View full text Add to dashboard Cite

show abstract

“…They use different types of techniques like smart/engineered materials, transduction mechanisms, organic and inorganic electronics etc. but most of them are limited either due to slow response because of low mobility or due to large area [2]. Contrary to these, MEMS based approach gives an attractive way to miniaturise and integrate transducer directly in the existing well-developed and fast CMOS technology.…”

Section: Introductionmentioning

confidence: 99%

Towards bendable piezoelectric oxide semiconductor field effect transistor based touch sensor

Gupta

Heidari

Lorenzelli

et al. 2016

2016 IEEE International Symposium on Circuits and Systems (ISCAS)

Self Cite

View full text Add to dashboard Cite

Abstract-This paper reports recent advances related to the piezoelectric oxide semiconductor field effect transistor (POS-FET) based touch sensing system research. We reported in past, the POSFETs with basic electronics realized on planar silicon substrates using CMOS technology. However, the planar POSFETs could not be used on 3D or curved surfaces such as the fingertip of a robot. To overcome this challenge we are now investigating the ultra-thin-chip approach for obtaining bendable POSFETs tactile sensing array. This paper presents this approach towards obtaining bendable POSFETs. Furthermore, for the first time the theoretical behavior of POSFETs devices are examined by combining the piezoelectric capacitor model proposed and the physics of underlying metal-oxide-semiconductor (MOS) FETs in the linear and saturation regions. The device characteristic equations are simulated using MATLAB and comparable matching is achieved with the experimental measurements. The model result gives a unique insight into geometrical and material properties of piezoelectric polymer on the electrical properties of transistor for flexible electronics applications. Using this model, the Spice simulation of POSFET device in a single-ended op-amp configuration, and the effect of chip thickness on deflection are presented.

show abstract

“…This refers especially on the applied grip force, so as an object to be neither firmly, nor loosely grasped. Solutions that have been explored towards this direction focus on tactile sensing chips that mimic the properties of the human skin [23][24][25][26].…”

Section: Myoelectric Control Systemmentioning

confidence: 99%

At-Home Computer-Aided Myoelectric Training System for Wrist Prosthesis

Vilouras

Heidari

Navaraj

et al. 2016

Haptics: Perception, Devices, Control, and Applications

View full text Add to dashboard Cite

Abstract. Development of tools for rehabilitation and restoration of the movement after amputation can benefit from the real time interactive virtual animation model of the human hand. Here, we report a computer-aided training/learning system for wrist disarticulated amputees, using the open source integrated development environment called "Processing". This work also presents the development of a low-cost surface Electro-MyoGraphic (sEMG) interface, which is an ideal tool for training and rehabilitation applications. The processed sEMG signals are encoded after digitization to control the animated hand. Experimental results demonstrate the effectiveness of the sEMG control system in acquiring sEMG signals for real-time control. Users have also the ability to connect their prostheses with the training system and observe its operation for a more explicit demonstration of movements.

show abstract

Towards Tactile Sensing System on Chip for Robotic Applications

Cited by 135 publications

References 26 publications

POSFET tactile sensing arrays using CMOS technology

POSFET tactile sensing arrays using CMOS technology

Towards bendable piezoelectric oxide semiconductor field effect transistor based touch sensor

At-Home Computer-Aided Myoelectric Training System for Wrist Prosthesis

Contact Info

Product

Resources

About