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2. Tactile sensors
These are based on pressure sensitivity of a conductive
elastomer and are placed at the contact surface
usually on the fingers of the robot and the end effector.
We take tactile sensing to provide a measure of the
amount of contact pressure that is being exerted.
Wrist Sensor
Hence,
Maltese Cross
F=Rw
Where and
Tactile Sensor
Tactile sensors are constructed as array of load cells termed
taxels. They may also consist of continuous pressure sensitive
films from which the pressure information could be extracted.
Such sensors are an attempt to mimic a human sense of touch,
particularly in connection with the human finger. To achieve
such attributes following are the requirements:
A spacial resolution of 1-2mm. This amount to about 16 taxels/cm 2.
Sensitivity of individual load cell about 0.01N/m 2 with an upper limit of
10N/m2, corresponding to a dynamic range of 1000:1 with preferably
logarithmic characteristics.
Nonlinear behavior is acceptable, hysteresis is not acceptable, good
repeatability is extremely desirable.
Sensor should be robust.
Each sensor should have a response time ranging from 1-10ms.
and
Resulting in the frequency
So
The Taxel
Array
Acquisition Circuit