Abstract
The design, modeling, and testing of a flexible tactile sensor and its applications are presented. This sensor is made of polymer materials and can detect the 2D surface texture image and contact-force estimation. The sensing mechanism is based on the novel contact deflection effect of a membrane. We measure the amount of membrane deflection with measuring the change of capacitance between two plates. One plate is attached to membrane and the other fixed on the substrate of sensor. An electronic interface circuit is used to convert the capacitance variety to frequency variety. Furthermore, the size and shape of the sensor can be easily tailored to the applications requirements. The proposed sensor with the potential for further miniaturization is suitable for using in biomedical applications, especially in minimally invasive surgery (MIS).
Highlights
By touching an object, it is possible to measure contact properties such as contact force, torques, and contact position
This paper introduces the design of a new type of capacitive tactile sensor and shows how to build rugged, reliable capacitive tactile sensor with high accuracy and low part cost
One plate is glued to an elastic membrane which deforms in response to contact force
Summary
It is possible to measure contact properties such as contact force, torques, and contact position. The precision grasp has advantages such as enabling better control of contact force and motion of object, but it is less stable than the power grasp[1,2,3] In biomedical engineering and medical robotics applications, tactile sensors can be used to sense a wide range of stimuli This includes detecting the presence or absence of a grasped tissue/object or even mapping a complete tactile image[4,5,6]. This paper introduces the design of a new type of capacitive tactile sensor and shows how to build rugged, reliable capacitive tactile sensor with high accuracy and low part cost It can measure the magnitude and the position of an applied load on it. This sensor has good potential for use in surgical devices
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