Development of a soft PZT based tactile sensor array for force localization

Merve Acer, A. Yildiz, Farshad Hamedi Bazzaz
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引用次数: 7

Abstract

The need of designing tactile sensors for machines and robotic systems has become crucial with the increase of the tasks related to human. This work proposes a silicone embedded, low profile piezoelectric sensor array that is suitable for applications where tactile sensing and force localization is needed. The developed sensor has 3 piezoelectric ceramics (PZT) placed in 1×3 array and consists of 5 layers including flexible electrodes and silicone layers. The fabricated tactile sensor has 5 mm spatial resolution and has 0.578–0.821 V/N sensitivity range with a linear characteristic under 0–1 N impulse forces. Also the repeatability of the sensor is approximately 95.65 percent. In this work, the design of the sensor is presented. Each PZT element subjected to impulse force input has been calibrate and a force localization experiment has been performed on the sensor. The results show that our proposed sensor can be used as a force localization sensor.
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基于柔性压电陶瓷的力定位触觉传感器阵列的研制
随着与人类相关任务的增加,对机械和机器人系统的触觉传感器设计的需求变得至关重要。这项工作提出了一种硅胶嵌入的低轮廓压电传感器阵列,适用于需要触觉传感和力定位的应用。开发的传感器有3个压电陶瓷(PZT)放置在1×3阵列中,由5层组成,包括柔性电极和硅树脂层。该触觉传感器空间分辨率为5 mm,灵敏度范围为0.578 ~ 0.821 V/N,在0 ~ 1 N的冲击作用下具有线性特性。此外,传感器的重复性约为95.65%。本文介绍了传感器的设计。对每一个受冲力输入的压电陶瓷元件进行了标定,并对传感器进行了力定位实验。结果表明,该传感器可以作为力定位传感器。
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