Real-time measurement of the three-axis contact force distribution using a flexible capacitive polymer tactile sensor

Hyung Kew Lee, Jaehoon Chung, Sun Il Chang, Euisik Yoon

Research output: Contribution to journalArticle

108 Citations (Scopus)

Abstract

In this paper, we report real-time measurement results of various contact forces exerted on a new flexible capacitive three-axis tactile sensor array based on polydimethylsiloxane (PDMS). A unit sensor consists of two thick PDMS layers with embedded copper electrodes, a spacer layer, an insulation layer and a bump layer. There are four capacitors in a unit sensor to decompose a contact force into its normal and shear components. They are separated by a wall-type spacer to improve the mechanical response time. Four capacitors are arranged in a square form. The whole sensor is an 8 × 8 array of unit sensors and each unit sensor responds to forces in all three axes. Measurement results show that the full-scale range of detectable force is around 0-20 mN (250 kPa) for all three axes. The estimated sensitivities of a unit sensor with the current setup are 1.3, 1.2 and 1.2%/mN for the x-, y- and z-axes, respectively. A simple mechanical model has been established to calculate each axial force component from the measured capacitance value. Normal and shear force distribution images are captured from the fabricated sensor using a real-time measurement system. The mechanical response time of a unit sensor has been estimated to be less than 160 ms. The flexibility of the sensor has also been demonstrated by operating the sensor on a curved surface of 4 mm radius of curvature.

Original languageEnglish
Article number035010
JournalJournal of Micromechanics and Microengineering
Volume21
Issue number3
DOIs
Publication statusPublished - 2011 Mar 1

Fingerprint

Time measurement
Polymers
Sensors
Polydimethylsiloxane
Capacitors
Sensor arrays
Insulation
Copper
Capacitance
Electrodes

All Science Journal Classification (ASJC) codes

  • Electronic, Optical and Magnetic Materials
  • Mechanics of Materials
  • Mechanical Engineering
  • Electrical and Electronic Engineering

Cite this

@article{819968ca197a41dbb089b1e147744edf,
title = "Real-time measurement of the three-axis contact force distribution using a flexible capacitive polymer tactile sensor",
abstract = "In this paper, we report real-time measurement results of various contact forces exerted on a new flexible capacitive three-axis tactile sensor array based on polydimethylsiloxane (PDMS). A unit sensor consists of two thick PDMS layers with embedded copper electrodes, a spacer layer, an insulation layer and a bump layer. There are four capacitors in a unit sensor to decompose a contact force into its normal and shear components. They are separated by a wall-type spacer to improve the mechanical response time. Four capacitors are arranged in a square form. The whole sensor is an 8 × 8 array of unit sensors and each unit sensor responds to forces in all three axes. Measurement results show that the full-scale range of detectable force is around 0-20 mN (250 kPa) for all three axes. The estimated sensitivities of a unit sensor with the current setup are 1.3, 1.2 and 1.2{\%}/mN for the x-, y- and z-axes, respectively. A simple mechanical model has been established to calculate each axial force component from the measured capacitance value. Normal and shear force distribution images are captured from the fabricated sensor using a real-time measurement system. The mechanical response time of a unit sensor has been estimated to be less than 160 ms. The flexibility of the sensor has also been demonstrated by operating the sensor on a curved surface of 4 mm radius of curvature.",
author = "Lee, {Hyung Kew} and Jaehoon Chung and Chang, {Sun Il} and Euisik Yoon",
year = "2011",
month = "3",
day = "1",
doi = "10.1088/0960-1317/21/3/035010",
language = "English",
volume = "21",
journal = "Journal of Micromechanics and Microengineering",
issn = "0960-1317",
publisher = "IOP Publishing Ltd.",
number = "3",

}

Real-time measurement of the three-axis contact force distribution using a flexible capacitive polymer tactile sensor. / Lee, Hyung Kew; Chung, Jaehoon; Chang, Sun Il; Yoon, Euisik.

In: Journal of Micromechanics and Microengineering, Vol. 21, No. 3, 035010, 01.03.2011.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Real-time measurement of the three-axis contact force distribution using a flexible capacitive polymer tactile sensor

AU - Lee, Hyung Kew

AU - Chung, Jaehoon

AU - Chang, Sun Il

AU - Yoon, Euisik

PY - 2011/3/1

Y1 - 2011/3/1

N2 - In this paper, we report real-time measurement results of various contact forces exerted on a new flexible capacitive three-axis tactile sensor array based on polydimethylsiloxane (PDMS). A unit sensor consists of two thick PDMS layers with embedded copper electrodes, a spacer layer, an insulation layer and a bump layer. There are four capacitors in a unit sensor to decompose a contact force into its normal and shear components. They are separated by a wall-type spacer to improve the mechanical response time. Four capacitors are arranged in a square form. The whole sensor is an 8 × 8 array of unit sensors and each unit sensor responds to forces in all three axes. Measurement results show that the full-scale range of detectable force is around 0-20 mN (250 kPa) for all three axes. The estimated sensitivities of a unit sensor with the current setup are 1.3, 1.2 and 1.2%/mN for the x-, y- and z-axes, respectively. A simple mechanical model has been established to calculate each axial force component from the measured capacitance value. Normal and shear force distribution images are captured from the fabricated sensor using a real-time measurement system. The mechanical response time of a unit sensor has been estimated to be less than 160 ms. The flexibility of the sensor has also been demonstrated by operating the sensor on a curved surface of 4 mm radius of curvature.

AB - In this paper, we report real-time measurement results of various contact forces exerted on a new flexible capacitive three-axis tactile sensor array based on polydimethylsiloxane (PDMS). A unit sensor consists of two thick PDMS layers with embedded copper electrodes, a spacer layer, an insulation layer and a bump layer. There are four capacitors in a unit sensor to decompose a contact force into its normal and shear components. They are separated by a wall-type spacer to improve the mechanical response time. Four capacitors are arranged in a square form. The whole sensor is an 8 × 8 array of unit sensors and each unit sensor responds to forces in all three axes. Measurement results show that the full-scale range of detectable force is around 0-20 mN (250 kPa) for all three axes. The estimated sensitivities of a unit sensor with the current setup are 1.3, 1.2 and 1.2%/mN for the x-, y- and z-axes, respectively. A simple mechanical model has been established to calculate each axial force component from the measured capacitance value. Normal and shear force distribution images are captured from the fabricated sensor using a real-time measurement system. The mechanical response time of a unit sensor has been estimated to be less than 160 ms. The flexibility of the sensor has also been demonstrated by operating the sensor on a curved surface of 4 mm radius of curvature.

UR - http://www.scopus.com/inward/record.url?scp=79952646836&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=79952646836&partnerID=8YFLogxK

U2 - 10.1088/0960-1317/21/3/035010

DO - 10.1088/0960-1317/21/3/035010

M3 - Article

AN - SCOPUS:79952646836

VL - 21

JO - Journal of Micromechanics and Microengineering

JF - Journal of Micromechanics and Microengineering

SN - 0960-1317

IS - 3

M1 - 035010

ER -