Wang, H, Jones, D, de Boer, G orcid.org/0000-0002-5647-1771 et al. (4 more authors) (2018) Design and Characterization of Tri-axis Soft Inductive Tactile Sensors. IEEE Sensors Journal, 18 (19). pp. 7793-7801. ISSN 1530-437X
Abstract
Tactile sensors are essential for robotic systems to safely and effectively interact with the environment and humans. In particular, tri-axis tactile sensors are crucial for dexterous robotic manipulations by providing shear force, slip or contact angle information. The Soft Inductive Tactile Sensor (SITS) is a new type of tactile sensor that measures inductance variations caused by eddy-current effect. In this paper, we present a soft tri-axis tactile sensor using the configuration of four planar coils and a single conductive film with hyperelastic material in between them. The working principle is explained and design methods are outlined. A 3D finite element model was developed to characterize the tri-axis SITS and to optimize the target design through parameter study. Prototypes were fabricated, characterized and calibrated, and a force measurement resolution of 0.3 mN is achieved in each axis. Demonstrations show that the sensor can clearly measure light touch (a few mN normal force) and shear force pulses (10 to 30 mN) produced by a serrated leaf when it is moved across the sensor surface. The presented sensor is low cost, high performance, robust, durable, and easily customizable for a variety of robotic and healthcare applications.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2018 IEEE. This is an author produced version of a paper accepted for publication in IEEE Sensors Journal. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Eddy-current effect; Finite element analysis; Hyperelastic material; Inductance; Planar coil; Soft tactile sensor |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Functional Surfaces (Leeds) The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Thermofluids, Surfaces & Interfaces (iETSI) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 28 Jun 2018 14:29 |
Last Modified: | 01 Oct 2018 12:57 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/JSEN.2018.2845131 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:132685 |