tactile sensor using static electricity
DESCRIPTION
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.TRANSCRIPT
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SEMINAR PRESENTATION ON
A FLEXIBLE AND STRETCHABLE TACTILE
SENSOR UTILIZING STATIC ELECTRICITY
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CONTENTS
Sensors
Tactile sensors
What are
FSTSSE?
Structure
Principle
Working of
FSTSSE
Characteristics
Experiments
Advantages
Disadvantages
Applications
Conclusion
References
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SENSORS 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
>temperature
>pressure
>touch
>speed
>vehicle speed
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TACTILE SENSORS
sensitive to touch
many types
>resistive
>capacitive
>using SE
>using carbon nanotubes
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WHAT ARE FSTSSE?? Detects touch and
release
flexible and stretchable
utilizes the phenomenon of static electricity and ESI
used mainly in humanoid robots
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STRUCTURE OF FSTSSE
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Multi-element sensor with 6 square elements and 2 line elements
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PRINCIPLE
static electricity
>imbalance of electric charges within or on the surface of a material
>Thales of Miletos in 600 BC
electrostatic induction
>redistribution of electrical charge in an object, caused by the influence of nearby
charges.
>John Canton in 1753
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WORKING OF FSTSSE
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CHARACTERISTICS Sensor output for a touch
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EXPERIMENTS ON FSTSSE
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EXPERIMENTAL SETUP
sensor made of conductive silicon rubber non inverting amplifier Rs = Rf =10k ohm Ri = 10M ohm
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1)RESPONSE TO WEIGHT
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2) RESPONSE TO DIFF TOUCH VELOCITIES
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3)RESPONSE TO DIFF AREAS OF SENSOR ELEMENT
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4) RESPONSE TO DIFF MATERIALS OF TOUCHING OBJECT
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5) WHEN SENSOR IS STRETCHED
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Sensor output when sensor is stretched to triple its original length
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ADVANTAGES
Flexible Stretchable Soft Simple structure Can discriminate the touching objects Can detect the touching points
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DISADVANTAGES Cannot differentiate between a touch
and collision.
Depends on the condition of sensor
surface
Does not respond to weight
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APPLICATIONS Robotics Security systems Electronic gadgets Home appliances
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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 live
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A reliable human-robot alliance can make our works easier and much more
efficient.
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REFERENCES
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 Sensing—From Humans to Humanoids-
Ravinder S. Dahiya
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