DocumentCode :
2378441
Title :
Design, simulation and fabrication of a low cost capacitive tactile shear sensor for a robotic hand
Author :
Shashank, Arridh ; Tiwana, Mohsin I. ; Redmond, Stephen J. ; Lovell, Nigel H.
Author_Institution :
Grad. Sch. of Biomed. Eng., Univ. of New South Wales, Sydney, NSW, Australia
fYear :
2009
fDate :
3-6 Sept. 2009
Firstpage :
4132
Lastpage :
4135
Abstract :
In this paper a novel shear sensor design is described. The proposed design is able to measure static shear forces. The sensor is fabricated on a printed circuit board and uses a differential capacitor arrangement to detect shear force applied to the sensor surface. Both mathematical and COMSOL models have been developed for the described sensor. The sensor is intended for use in robotic hands for the detection of shear force at the tactile interface. The device can be fabricated at a low cost in both low and high volumes. Prototype sensors with a plusmn0.525 mm displacement range were fabricated. Fixed displacements (over the range plusmn0.5 mm) are applied to the capacitor common plate, without a silicone covering, and a range of shear forces (over the range plusmn4 N) applied to the sensor, once covered with a silicone skin, and the differential capacitance of the transducer is recorded. The maximum standard deviation of the differential capacitance across all force values is 1.35e-15 F. The maximum standard deviation, at each force value, across a range of plusmn2 N is 4.28e-16 F.
Keywords :
capacitive sensors; mathematical analysis; medical robotics; printed circuit design; tactile sensors; COMSOL model; capacitive tactile shear sensor; differential capacitor arrangement; mathematical model; printed circuit board; prototype sensors; robotic hand; sensor design; sensor fabrication; sensor simulation; static shear force measurement; Computer Simulation; Computer-Aided Design; Electric Capacitance; Equipment Design; Models, Theoretical; Pressure; Robotics; Shear Strength; Silicones; Static Electricity; Stress, Mechanical; Transducers;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Engineering in Medicine and Biology Society, 2009. EMBC 2009. Annual International Conference of the IEEE
Conference_Location :
Minneapolis, MN
ISSN :
1557-170X
Print_ISBN :
978-1-4244-3296-7
Electronic_ISBN :
1557-170X
Type :
conf
DOI :
10.1109/IEMBS.2009.5332724
Filename :
5332724
Link To Document :
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