Robotic Tactile Sensors Fabricated from a Monolithic Silicon Integrated Circuit and a Piezoelectric Polyvinylidene Fluoride Thin Film
Abstract
The purpose of this research effort was to design, fabricate, and test a tactile sensor system consisting of an external high impedance switch circuit, an external multiplexing circuit, and a tactile sensor IC. In order to accomplish this objective, a hardware design and selection process was implemented along with a logical test methodology. An external multiplexer circuit samples all of the array elements in 50 ms. The current prototype sensor has linearity spanning loads of 0.8 g to 135 g, a load resolution of 20 g, and a maximum bandwidth of 25 Hz. Using an elementary shape recognition algorithm the sensor can recognize the shape of a contact load with a spatial resolution on the order of 700 micron. A comparison of three different adhesives used to bond the piezoelectric PVDF film to the surface of the electrode array was made and a urethane adhesive was selected for its superior electrical and physical properties.
Document Details
- Document Type
- Technical Report
- Publication Date
- Dec 01, 1991
- Accession Number
- ADA243886
Entities
People
- Craig S. Dyson
Organizations
- Air Force Institute of Technology