Development and Characterization of a Soft Tactile Sensor Array Used for Parallel Grippers

Lakmal Weerasinghe1, Damith Suresh Chathuranga2

  • 1University of Moratuwa, Sri Lanka
  • 2University of Moratuwa

Details

Category

Technical Sessions

Theme

Biomedical Engineering and Mechatronics

Sessions

08:30 - 10:00 | Wed 30 May | SD1 | W.1.2

Biomedical Engineering and Mechatronics

Full Text

Abstract

Tactile Sensors play a crucial role in developing robots with human like grasping and manipulation capabilities. Localization, dynamic sensing and good force recognition characteristics are major goals when designing a tactile sensor. However, fulfilling these requirements come at the cost of increased complexity in design, high cost and difficulties in practical implementation due to size. In this research a sensor has been developed that is based on the concept of Hall effect. An array of magnets and hall sensors create a unique combination of outputs for each different deformation of the dual layered silicon membrane which houses the magnets. While allowing the interaction with non-planar surfaces due to the compliant nature of the silicon material, the sensor also facilitates accurate force recognition and localization with super-resolution using sensor readings, geometry and elastic properties of the silicon layer. This paper contains the design, fabrication and calibration of the tactile sensor array.

Additional Information

No information added

Video

No videos found