Abstract
The authors present a large area collision detection sensor utilizing the piezoelectric effect of polyvinylidene fluoride film. The proposed sensor system provides high dynamic range for touch sensation, as well as robust adaptability to achieve collision detection on complex-shaped surfaces. The design allows for cohabitation of humans and robots in cooperative environments that require advanced and robust collision detection systems. Data presented in the paper are from sensors successfully retrofitted onto an existing commercial robotic manipulator.
Highlights
Recent sensing work with polyvinylidene fluoride (PVDF) film based sensors includes tactile applications related to robotic skin for finger tips [1], large area coverage [2], stress sensing for shock wave measurements [3], deflection sensing [3], object identification [4], smart textiles [5] and power harvesting [6] to name a few
The majority of PVDF sensing applications traditionally rely on either a film membrane based strain sensation [11] or film on rigid substrate pressure sensation [2]. Both of these methods present challenges when applied to collision detection against typical robotic manipulator structures, which require sensing over large surface areas, over complex shapes, and a large range of impact forces
The prototype cover was attached to a commercial robotic arm and put through a series of dynamics to gauge sensor response to stimuli
Summary
Recent sensing work with polyvinylidene fluoride (PVDF) film based sensors includes tactile applications related to robotic skin for finger tips [1], large area coverage [2], stress sensing for shock wave measurements [3], deflection sensing [3], object identification [4], smart textiles [5] and power harvesting [6] to name a few. Advances in manufacturing processes have increased viability of PVDF as a flexible and adaptable sensor solution for complex surfaces through MEMS based fabrications [8]. Further work with micro- and nano-structurization shows strong promise for flexible tactile sensation viability of PVDF [10]. The majority of PVDF sensing applications traditionally rely on either a film membrane based strain sensation [11] or film on rigid substrate pressure sensation [2]. Both of these methods present challenges when applied to collision detection against typical robotic manipulator structures, which require sensing over large surface areas, over complex shapes, and a large range of impact forces. Pressure based designs require more complex electronics and construction to achieve flexibility because of the low signal response and need for a stiff substrate to achieve pressure dynamics
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