Abstract
Piezoelectric vibratory tactile sensors are used for measuring the softness and hardness of an object. In this work, a new construction of vibratory tactile sensor was investigated using a piezoelectric bimorph resonator. The bimorph resonator was driven in one side by constant voltage and constant driving frequency. When the tip of a resonator was contacted with a test piece, the output voltage in the other side of resonator was changed by contact impedance. Then, the contact impedances were calculated with experimental characteristics of output voltage using the equivalent circuit of the bimorph resonator. It was experimentally clarified that the electrical contact capacitance gradually decreased as the load added to test piece increased. The amount of decrease for hard test piece was larger than those of the soft test pieces. Next, the Young's moduli of test pieces were calculated from the experimental results in this method. The calculated values were compared with actual material constants of test pieces. It was examined that the possibility for detecting the softness and hardness of an object by this method on bimorph resonator. These results in this study may be useful for designing on the piezoelectric tactile sensor.
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