Tactile Sensor using static electricity

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A Flexible and Stretchable Tactile Sensor utilizing Static Electricity The tactile sensor is required for various robots. In humanoid robots, flexibility of the sensor is an important feature for preventing physical damage and for interacting with the human. Moreover, stretchability of the sensor has advantages that the sensor is nonbreakable and that the sensor can be easily mounted on curved surfaces or deformable parts such as joints. This paper proposes a novel tactile sensor made of flexible and stretchable silicone rubber. A structure of the sensor is similar to the capacitive tactile sensors. However, the proposed sensor utilizes a different principle from existing sensors. The sensor utilizes static electricity and electrostatic induction phenomenon, and can detect some touch conditions. This paper reports the principle and characteristics of the proposed sensor. Experiments show that the sensor output depends on touch area, touch velocity, and material of touch objects. However, the sensor does not depend on touch weight. Moreover, the experiment shows that even if the proposed sensor is stretched, it performs as the tactile sensor.


<ul><li> 1. A FLEXIBLE AND STRETCHABLE TACTILE SENSOR UTILIZING STATIC ELECTRICITY1</li></ul> <p> 2. SensorsAdvantagesTactile sensorsDisadvantagesWhat are FSTSSE?ApplicationsStructureConclusionPrincipleReferencesWorking of FSTSSECharacteristicsExperiments 2 3. responds to an input quantity by generating a functionally related output usually in the form of an electrical or optical signal.Diff types of sensors &gt;temperature &gt;pressure &gt;touch&gt;speed &gt;vehicle speed3 4. sensitive to touch many types &gt;resistive &gt;capacitive &gt;using SE &gt;using carbon nanotubes4 5. Detects touch and releaseflexible and stretchableutilizes the phenomenon of static electricity and ESIused mainly in humanoid robots5 6. 6 7. Multi-element sensor with 6 square elements and 2 line elements 7 8. static electricity &gt;imbalance of electric charges within or on the surface of a material &gt;Thales of Miletos in 600 BCelectrostatic induction&gt;redistribution of electrical charge in an object, caused by the influence of nearby charges.&gt;John Canton in 1753 8 9. 9 10. Sensor output for a touch10 11. 11 12. sensor made of conductive silicon rubber non inverting amplifier Rs = Rf =10k ohm Ri = 10M ohm 12 13. 1)RESPONSE TO WEIGHT13 14. 2) RESPONSE TO DIFF TOUCH VELOCITIES14 15. 3)RESPONSE TO DIFF AREAS OF SENSOR ELEMENT15 16. 4) RESPONSE TO DIFF MATERIALS OF TOUCHING OBJECT16 17. 5) WHEN SENSOR IS STRETCHED17 18. Sensor output when sensor is stretched to triple its original length18 19. FlexibleStretchableSoftSimple structureCan discriminate the touching objectsCan detect the touching points19 20. Cannot differentiate between a touch and collision.Depends on the condition of sensor surfaceDoes not respond to weight20 21. RoboticsSecurity systemsElectronic gadgetsHome appliances21 22. CONCLUSION Flexibility ,stretchability and softness of the tactile sensor are important features for the humanoid robots. Robotics is a field that needs to be updated with inventions Humans and robots working hand in hand can make our world a better place to live22 23. 23 24. A Flexible and Stretchable Tactile Sensor utilizing Static Electricity- Yasunori Tada, Masahiro Inoue, Toshimi Kawasaki,Yasushi Kawahito, Hiroshi Ishiguro, and Katsuaki Suganuma. Wikipedia Sensors, Focus on Tactile, Force and Stress Sensors-ISBN 978-953-7619-31-2, pp. 444, December 2008 Tactile SensingFrom Humans to Humanoids-Ravinder S. Dahiya 24 25. 25 26. 26 </p>