Development of a capacitive slip sensor using internal air gap

Development of a capacitive slip sensor using internal air gap Accurate recognition of an object plays an important role in ensuring safe grasping of robotic hand operation. For this reason, usage of proper tactile sensors are essential for robots to recognize objects. In this paper, we present a wide-range functional tactile sensor that can be used for slippage information collector as well as for a protective cover. This sensor has a thin air gap between the polymer layers, which is to be deformed upon a slip motion. When slip occurs on the surface, relative displacement occurs between the object and the sensor surface. This displacement causes deformation of the sensor, which can detect the slippage by measuring the changing capacitance. Since the slip detection algorithm only exploits the change in capacitance, no complicated signal processing such as frequency analysis is required. Therefore, no large data processing is required to detect the slip, and the time delay can also be minimized. These advantages can greatly help the robot hand to react instantly when preventing the object from slip. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Microsystem Technologies Springer Journals

Development of a capacitive slip sensor using internal air gap

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Publisher
Springer Journals
Copyright
Copyright © 2018 by Springer-Verlag GmbH Germany, part of Springer Nature
Subject
Engineering; Electronics and Microelectronics, Instrumentation; Nanotechnology; Mechanical Engineering
ISSN
0946-7076
eISSN
1432-1858
D.O.I.
10.1007/s00542-018-3975-2
Publisher site
See Article on Publisher Site

Abstract

Accurate recognition of an object plays an important role in ensuring safe grasping of robotic hand operation. For this reason, usage of proper tactile sensors are essential for robots to recognize objects. In this paper, we present a wide-range functional tactile sensor that can be used for slippage information collector as well as for a protective cover. This sensor has a thin air gap between the polymer layers, which is to be deformed upon a slip motion. When slip occurs on the surface, relative displacement occurs between the object and the sensor surface. This displacement causes deformation of the sensor, which can detect the slippage by measuring the changing capacitance. Since the slip detection algorithm only exploits the change in capacitance, no complicated signal processing such as frequency analysis is required. Therefore, no large data processing is required to detect the slip, and the time delay can also be minimized. These advantages can greatly help the robot hand to react instantly when preventing the object from slip.

Journal

Microsystem TechnologiesSpringer Journals

Published: Jun 1, 2018

References

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