Abstract—This paper aims at briefly discussing the various techniques used in tactile sensing and then compares them. Next, different types of commercial tactile sensors, along with suitable performance criteria for their comparison are discussed. Finally, currently existing commercial sensors are talked about in detail, including the leading manufacturers, their products and the description of their data sheet.
Keywords— Artificial skin; Commercial; Sensors; Tactile.
I. INTRODUCTION
The word Tactile means – ‘perceptible by touch’. So sensors that acquire information related to tactile, through physical touch are known as tactile sensors. So, tactile sensing relates to measurement of certain quantities; such as pressure distribution, moisture, …show more content…
A voltage gradient is produced on one of the sheets, by applying a reference voltage and ground on its two opposite ends. When the second sheet is brought in contact with the first one by the applied force, it serves like the slider in a linear potentiometer. A voltage divider is made at the contact point and the voltage of the sheet, which is acting as slider, can be used to find location of the contact point. These sensorsare generally sensitive and inexpensive in terms of investment, however, they are expensive in terms of power consumption. An improved design of tactile sensor using resistive sensing technology is reported in (Zhang & So 2002). The design involves arranging the sensors in an array and hence enables the measurement of many contact points. However, a critical problem which still remains is the lack of contact force …show more content…
Typically it consists of two conductive plates with a dielectric material in between them. For parallel plate capacitors, capacitance can be expressed as, C = [ (Aεoεr)/d ]. Where Cis the capacitance, A is the overlapping area of the two plates, εois the permittivity of free space, εr is the relative permittivity of the dielectric material and d is distance between the plates. Capacitive sensors can be made very small, which allows the construction of dense sensor arrays. In general, capacitive tactile sensors exhibit a good frequency response, good sensitivity, high spatial resolution, and have a large dynamic range. Major drawbacks for this mode of transduction are stray capacity, severe hysteresis, and susceptibility to noise, especially in a mesh configurations because of crosstalk noise, field interactions and fringing capacitance. Relatively complex electronics are required to filter out this
Keywords— Artificial skin; Commercial; Sensors; Tactile.
I. INTRODUCTION
The word Tactile means – ‘perceptible by touch’. So sensors that acquire information related to tactile, through physical touch are known as tactile sensors. So, tactile sensing relates to measurement of certain quantities; such as pressure distribution, moisture, …show more content…
A voltage gradient is produced on one of the sheets, by applying a reference voltage and ground on its two opposite ends. When the second sheet is brought in contact with the first one by the applied force, it serves like the slider in a linear potentiometer. A voltage divider is made at the contact point and the voltage of the sheet, which is acting as slider, can be used to find location of the contact point. These sensorsare generally sensitive and inexpensive in terms of investment, however, they are expensive in terms of power consumption. An improved design of tactile sensor using resistive sensing technology is reported in (Zhang & So 2002). The design involves arranging the sensors in an array and hence enables the measurement of many contact points. However, a critical problem which still remains is the lack of contact force …show more content…
Typically it consists of two conductive plates with a dielectric material in between them. For parallel plate capacitors, capacitance can be expressed as, C = [ (Aεoεr)/d ]. Where Cis the capacitance, A is the overlapping area of the two plates, εois the permittivity of free space, εr is the relative permittivity of the dielectric material and d is distance between the plates. Capacitive sensors can be made very small, which allows the construction of dense sensor arrays. In general, capacitive tactile sensors exhibit a good frequency response, good sensitivity, high spatial resolution, and have a large dynamic range. Major drawbacks for this mode of transduction are stray capacity, severe hysteresis, and susceptibility to noise, especially in a mesh configurations because of crosstalk noise, field interactions and fringing capacitance. Relatively complex electronics are required to filter out this