Gotowa bibliografia na temat „Ring-type piezoresistive force sensor”

A type of tactile sensors based on piezoresistive principle is designed for the robot grab force detection and control. According to human behaves and awareness, the robot grabbing control program imitate human hand grasp active perception and action mechanisms. With the tactile sensors, the slip and grasping process pressure signal is sampled and analysed by general time-domain statistical parameter, and a simpler control algorithm is researched. In the experiment the robot has accomplished soft grabbing by modeling human hand action and applied appropriate grabbing force on objects of different weights or material by means of the control algorithm. Experiments suggest that this sensor and action biomimetic process is suitable to be used in the tele-presence technology application in the case of the visible range or visual equipment aid especially.

This paper presents a flexible tactile sensor with a compact structure based on a piezoresistive thin film and an elastomer for detecting three-dimensional (3D) force. The film contains four independent sensing cells, which were made using a type of piezoresistive ink and a specific pectinate conductive circuit pattern based on the flexible substrate to decrease the coupling effect. The elastomer with a spherical surface is bonded to the surface of the film and transfers the force to the sensing array. A model of 3D force detection based on the proposed sensor was established, and a prototype was designed and developed. Static and dynamic experiments were carried out, and the results show that the range of the prototype is 0–50 N in the z-axis and 0–6 N in the x-axis and y-axis, which with good static and dynamic performance, especially a low coupling effect, validates the mechanism of the proposed sensor and indicates that it has good potential application in robotic grasping.

Piezoresistive tactile sensors made using nanocomposite polymeric materials have been shown to possess good flexibility, electrical performance, and sensitivity. However, the sensing performance, especially in the low-pressure range, can be significantly improved by enabling uniform dispersion of the filler material and utilization of effective structural designs that improve the tactile sensing performance. In this study, a novel flexible piezoresistive tactile sensor with a grid-type microstructure was fabricated using polymer composites comprising multi-walled carbon nanotubes (MWCNTs) as the conductive filler and polydimethylsiloxane (PDMS) as the polymeric matrix. The research focused on improving the tactile sensor performance by enabling uniform dispersion of filler material and optimizing sensor design and structure. The doping weight ratio of MWCNTs in PDMS varied from 1 wt.% to 10 wt.% using the same grid structure-sensing layer (line width, line spacing, and thickness of 1 mm). The sensor with a 7 wt.% doping ratio had the most stable performance, with an observed sensitivity of 6.821 kPa−1 in the lower pressure range of 10–20 kPa and 0.029 kPa−1 in the saturation range of 30–200 kPa. Furthermore, the dimensions of the grid structure were optimized and the relationship between grid structure, sensitivity, and sensing range was correlated. The equation between pressure and resistance output was derived to validate the principle of piezoresistance. For the grid structure, dimensions with line width, line spacing, and thickness of 1, 1, and 0.5 mm were shown to have the most stable and improved response. The observed sensitivity was 0.2704 kPa−1 in the lower pressure range of 50–130 kPa and 0.0968 kPa−1 in the saturation range of 140–200 kPa. The piezoresistive response, which was mainly related to the quantum tunneling effect, can be optimized based on the dopant concentration and the grid microstructure. Furthermore, the tactile sensor showed a repeatable response, and the accuracy was not affected by temperature changes in the range of 10 to 40 °C and humidity variations from 50 to 80%. The maximum error fluctuation was about 5.6% with a response delay time of about 1.6 ms when cyclic loading tests were performed under a normal force of 1 N for 10,200 cycles. Consequently, the proposed tactile sensor shows practical feasibility for a wide range of wearable technologies and robotic applications such as touch detection and grasping.

Abstract A six-axis force/torque sensor is designed to solve the problems of the sensor with a resistance strain gauge. For instance, if the adhesive layer of the resistance strain gauge is not firm, the elastic sensing beam will have plastic deformation. The cylindrical conductive rubber is used as the sensing unit, which can detect force/torque by the change of the piezoresistive values. The units are arranged in a spatial eight-point staggered manner, which can reduce the dimensional coupling from the structure. The sensor static calibration is systematically analyzed and researched. The linear decoupling model of the measurement system that incorporating the Least Squares algorithm is established to reduce the dimensional coupling. The new type of sensor structure and static linear calibration algorithm proposed in this paper have good practical applications and popularization values.

The composites with multiple types of nano-carbon fillers have better electrical conductivity and piezoresistive properties as compared with composites with a single type of nano-carbon fillers. As previously reported, the nano-carbon fillers with various aspect ratios, such as carbon nanotube (CNT) and carbon black (CB), have synergistic enhanced effects on the piezoresistive performance of composite sensors. However, most of the works that have been reported are experimental investigations. The efficient and usable numerical simulation investigation needs to be further developed. In this study, based on an integrated 3D statistical resistor network model, a numerical simulation model was created to calculate the piezoresistive behavior of the CNT/CB/ Polyvinylidene Fluoride (PVDF) composite. This model also takes into account the tunneling effect between nearby nano-fillers. It is found from numerical simulation results that the piezoresistive sensitivity of composite simulation cells can be influenced by the fraction of CNT and CB. In the case that the CNT content is 0.073 wt.%, the best force-electrical piezoresistive sensitivity can be achieved when the CB loading is up to 0.2 wt.%. To verify the validity of the simulation model, the previous experimental investigation results are also compared. The experimental results confirm the validity of the model. The investigation is valuable and can be utilized to design a strain sensor for this nano-composite with increased sensitivity.

High-performance flexible pressure sensors have great application prospects in numerous fields, including the robot skin, intelligent prosthetic hands and wearable devices. In the present study, a novel type of flexible piezoresistive sensor is presented. The proposed sensor has remarkable superiorities, including high sensitivity, high repeatability, a simple manufacturing procedure and low initial cost. In this sensor, multi-walled carbon nanotubes were assembled onto a polydimethylsiloxane film with a pyramidal microarray structure through a layer-by-layer self-assembly system. It was found that when the applied external pressure deformed the pyramid microarray structure on the surface of the polydimethylsiloxane film, the resistance of the sensor varied linearly as the pressure changed. Tests that were performed on sensor samples with different self-assembled layers showed that the pressure sensitivity of the sensor could reach − 2.65 kPa − 1 , which ensured the high dynamic response ability and the high stability of the sensor. Moreover, it was proven that the sensor could be applied as a strain sensor under the tensile force to reflect the stretching extent or the bending object. Finally, a flexible pressure sensor was installed on five fingers and the back of the middle finger of a glove. The obtained results from grabbing different weights and different shapes of objects showed that the flexible pressure sensor not only reflected the change in the finger tactility during the grasping process, but also reflected the bending degree of fingers, which had a significant practical prospect.

This paper presents development of pressure sensor array with capacitance-type unit sensors, with scalable number of cells. Different assemblies of unit pressure sensors and their arrays were considered, their characteristics and fabrication methods were investigated. The structure of primary pressure transducer (PPT) array was presented; its operating principle of array was illustrated, calculated reference ratios were derived. The interface circuit, allowing to transform the changes in the primary transducer capacitance into voltage level variations, was proposed. A prototype sensor was implemented; the dependency of output signal power from the applied force was empirically obtained. In the range under 30 N it exhibited a linear pattern. The sensitivity of the array cells to the applied pressure is in the range 134.56..160.35. The measured drift of the output signals from the array cells after 10,000 loading cycles was 1.39%. For developed prototype of the pressure sensor array, based on the experimental data, the average signal-to-noise ratio over the cells was calculated, and equaled 63.47 dB. The proposed prototype was fabricated of easily available materials. It is relatively inexpensive and requires no fine-tuning of each individual cell. Capacitance-type operation type, compared to piezoresistive one, ensures greater stability of the output signal. The scalability and adjustability of cell parameters are achieved with layered sensor structure. The pressure sensor array, presented in this paper, can be utilized in various robotic systems.

This paper designs a micro-pump silicon diaphragm vibration pickup sensor. In this newsensor which is based on piezoresistive effect, four MOSFETs with nc-Si/c-Si heterojunction drainand source are manufactured on the surface of silicon wafer by using the technique of CMOS andPECVD, at edge of <100> orientation of the N-type silicon diaphragm rectangle, and using MEMStechnology, the back of the four MOSFETs device silicon substrate processed into silicon cup, whichconstitutes the vibration pickup sensor. The micro-pump silicon diaphragm vibration pickup sensornot only has all the advantages of conventional force sensitive resistance vibration pickup sensor, butalso has the advantages of small temperature drift, high detection precision, and it can satisfy themicro-pump silicon diaphragm vibration requirements.