Development of fingertip tactile sensing chips for humanoid robots

Dahiya, R. S. , Metta, G. and Valle, M. (2009) Development of fingertip tactile sensing chips for humanoid robots. In: IEEE International Conference on Mechatronics, 2009. ICM 2009, Malaga, Spain, 14-17 Apr 2009, pp. 1-6. (doi:10.1109/ICMECH.2009.4957166)

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Publisher's URL: http://dx.doi.org/10.1109/ICMECH.2009.4957166

Abstract

This paper presents the development of tactile sensing chips, for the fingertips of humanoid robots. In the first phase of development, piezoelectric polymer-MEA (microelectrode array) based test chips have been realized. Each chip comprises of 32 microelectrodes, epoxy-adhered with a thin piezoelectric polymer (PVDF-TrFE) film. The diameter of each microelectrode or dasiataxelpsila (tactile element) is 500 mum and the center to center distance between taxels is 1 mm. The tactile sensing chips have been experimentally evaluated over a wide range (0.02 - 4N or ~ 2 gmf- 400 gmf) of dynamic normal forces and frequencies (2 Hz - 5 KHz) by applying variable force with constant frequency in the first case and constant force with variable frequency in latter. The cross-talk, among adjacent taxels on the chips, is found to be approximately 20%. Finally, the ability of the chips to identify object material on the basis of their hardness is also demonstrated.

Item Type:Conference Proceedings
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Dahiya, Professor Ravinder
Authors: Dahiya, R. S., Metta, G., and Valle, M.
College/School:College of Science and Engineering > School of Engineering > Electronics and Nanoscale Engineering

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