Design and Characterization of a Nanocomposite Pressure Sensor Implemented in a Tactile Robotic System

被引：54

作者：

Massaro, Alessandro ^{[1
]}

Spano, Fabrizio ^{[1
]}

Lay-Ekuakille, Aime ^{[2
]}

Cazzato, Paolo ^{[3
]}

Cingolani, Roberto ^{[4
]}

Athanassiou, Athanassia ^{[1
,3
]}

机构：

[1] Italian Inst Technol, Ctr Biomol Nanotechnol, I-73010 Lecce, Italy

[2] Univ Salento, Fac Engn, Dept Innovat Engn, I-73100 Lecce, Italy

[3] CNR, Inst Nanosci, Natl Nanotechnol Lab, I-73100 Lecce, Italy

[4] Italian Inst Technol, I-16163 Genoa, Italy

来源：

IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT | 2011年 / 60卷 / 08期

关键词：

Light coupling; nanocomposite materials; optical tactile sensors; pressure sensing; robotic implementation; IN-SITU SYNTHESIS;

D O I：

10.1109/TIM.2011.2121290

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In this paper, we present the implementation of a new class of optical pressure sensors in a robotic tactile-sensing system based on polydimethylsiloxane (PDMS). The sensor consists of a tapered optical fiber, where an optical signal goes across, embedded into a PDMS-gold nanocomposite material (GNM). By applying different pressure forces onto the PDMS-based nanocomposite, changes in the optical transmittivity of the fiber can be detected in real time due to the coupling between the GNM and the tapered fiber region. The intensity reduction of a transmitted light is correlated to the pressure force magnitude. Light intensity is converted into an electric signal by a system suitable for robotic implementation. High sensitivity using forces by applying weights of a few grams is proved. Sensitivity on the order of 5 g is checked. A detailed algorithm for the detection of roughness and shapes by means of a robotic finger is proposed.

引用

页码：2967 / 2975

页数：9

共 31 条

[11] A traction stress sensor array for use in high-resolution robotic tactile imaging [J].