Object imaging with a piezoelectric robotic tactile sensor

摘要: A two-dimensional, electrically multiplexed robotic tactile sensor was realized by coupling a piezoelectric polyvinylidene fluoride (PVDF) polymer film to monolithic silicon integrated circuit (IC). The IC incorporates 64 electrodes arranged in symmetrical 8/spl times/8 matrix. Each electrode occupies 400/spl times/400 /spl mu/m square area, and they are separated from each other 300 mu/m. 40-/spl mu/m-thick PVDF attached the array with an nonconductive methane adhesive. response of is linear for loads spanning 0.8-135 grams-of-force (gmf) (0.00-1.35 Newtons (N)). bandwidth 25 Hz, hysteresis level tolerable, and, operation sensor's range, taxel crosstalk negligible. historically persistent stability reproducibility limitation associated piezoelectric-based sensors has been solved implementing novel pre-charge voltage bias technique initialize pre- post-load responses. rudimentary object image measurement procedure applied devised recognize silhouette sharp edge, square, trapezoid, isosceles triangle, circle, toroid, slotted screw, cross-slotted screw. >