Abstract
This paper proposes and demonstrates a novel flexible tactile sensor for both normal and shear load detection. For the realization of the sensor, polyimide and polydimethylsiloxane are used as a substrate that makes it flexible. Thin metal strain gauges, which are incorporated into the polymer, are used for measuring normal and shear loads. The salient feature of this tactile sensor is that it has no diaphragm-like structures; therefore, it can be used as a ground reaction force sensor for balance control in humanoid robots. Four tactile unit sensors are assembled and placed in the four corners of the robot's sole. The tactile unit sensor can measure loads up to 2 kg-force. When loads are exerted on the sole, the ground reaction force can be measured by these four sensors. The measured forces can be used in the balance control of biped locomotion systems.
| Original language | English |
|---|---|
| Title of host publication | The 6th IEEE Conference on SENSORS, IEEE SENSORS 2007 |
| Pages | 784-787 |
| Number of pages | 4 |
| DOIs | |
| Publication status | Published - 2007 Dec 1 |
| Event | 6th IEEE Conference on SENSORS, IEEE SENSORS 2007 - Atlanta, GA, United States Duration: 2007 Oct 28 → 2007 Oct 31 |
Publication series
| Name | Proceedings of IEEE Sensors |
|---|
Other
| Other | 6th IEEE Conference on SENSORS, IEEE SENSORS 2007 |
|---|---|
| Country | United States |
| City | Atlanta, GA |
| Period | 07/10/28 → 07/10/31 |
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All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering
Cite this
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A polymer-based flexible tactile sensor and its application to robotics. / Hwang, Eun Soo; Kim, Yong Jun.
The 6th IEEE Conference on SENSORS, IEEE SENSORS 2007. 2007. p. 784-787 4388517 (Proceedings of IEEE Sensors).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
TY - GEN
T1 - A polymer-based flexible tactile sensor and its application to robotics
AU - Hwang, Eun Soo
AU - Kim, Yong Jun
PY - 2007/12/1
Y1 - 2007/12/1
N2 - This paper proposes and demonstrates a novel flexible tactile sensor for both normal and shear load detection. For the realization of the sensor, polyimide and polydimethylsiloxane are used as a substrate that makes it flexible. Thin metal strain gauges, which are incorporated into the polymer, are used for measuring normal and shear loads. The salient feature of this tactile sensor is that it has no diaphragm-like structures; therefore, it can be used as a ground reaction force sensor for balance control in humanoid robots. Four tactile unit sensors are assembled and placed in the four corners of the robot's sole. The tactile unit sensor can measure loads up to 2 kg-force. When loads are exerted on the sole, the ground reaction force can be measured by these four sensors. The measured forces can be used in the balance control of biped locomotion systems.
AB - This paper proposes and demonstrates a novel flexible tactile sensor for both normal and shear load detection. For the realization of the sensor, polyimide and polydimethylsiloxane are used as a substrate that makes it flexible. Thin metal strain gauges, which are incorporated into the polymer, are used for measuring normal and shear loads. The salient feature of this tactile sensor is that it has no diaphragm-like structures; therefore, it can be used as a ground reaction force sensor for balance control in humanoid robots. Four tactile unit sensors are assembled and placed in the four corners of the robot's sole. The tactile unit sensor can measure loads up to 2 kg-force. When loads are exerted on the sole, the ground reaction force can be measured by these four sensors. The measured forces can be used in the balance control of biped locomotion systems.
UR - http://www.scopus.com/inward/record.url?scp=48349127249&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=48349127249&partnerID=8YFLogxK
U2 - 10.1109/ICSENS.2007.4388517
DO - 10.1109/ICSENS.2007.4388517
M3 - Conference contribution
AN - SCOPUS:48349127249
SN - 1424412617
SN - 9781424412617
T3 - Proceedings of IEEE Sensors
SP - 784
EP - 787
BT - The 6th IEEE Conference on SENSORS, IEEE SENSORS 2007
ER -