Localization of Sliding Movements Using Soft Tactile Sensing Systems with Three-axis Accelerometers
- We integrated our proposed idea, design, and fabrication of a soft tactile sensing system a pneumatic actuator and a three-axis accelerometer as a sensing element for detecting and localization sliding movements in a large contact area.
- We clarified the operation principle of our sensing system and conducted a numerical simulation to study the dynamic responses of the sensing elements under a sliding motion with morphological changes.
- We proposed dynamic analyses and interpolated functions based on experiment results to verify the sensing system’s ability.
- We elaborated the role of pressurization on the response of the sensing system under sliding movements.
2. Materials and Methods
2.2. Design and Fabrication
2.3. Operation Principle
3. Numerical Simulation
4. Experimental Setup
- With X-sliding case: Distance value increased from 0 to 25 mm or from −25 to 0 mm with increased 2.5-mm steps.
- With Y-sliding case: Distance value rose from 0 to 25 mm with increased 2.5-mm steps. At a particular distance, the sliding motions were conducted with various velocities from 0.5 to 4 mm/s with increased steps of 0.5 mm/s.
5. Results and Discussion
5.1. Output Voltage of Accelerometer Under Static Pressurization Without Sliding Motion
5.2. Output Voltages of Accelerometer Under Sliding Action
5.2.1. Dynamic Analysis for Detecting Sliding Directions
- X-sliding case 1: Indenter slides along the X axis with contact position y < 0.
- X-sliding case 2: Indenter slides along the X axis with contact position y > 0.
- Y-sliding: Indenter slides along the Y axis.
- With contact zone 1: The values of angles between O1x and O1y and horizontal axis are negative, and thus output voltages and are negative: .
- With contact zone 2: .
- With contact zone 3: .
- With contact zone 4: .
5.2.2. Estimation of Sliding’s Localization.
5.3. Role of Pressurization
5.4. Limitations and Applicability of Sensing System
Conflicts of Interest
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Trinh, H.X.; Iwamoto, Y.; Ho, V.A.; Shibuya, K. Localization of Sliding Movements Using Soft Tactile Sensing Systems with Three-axis Accelerometers. Sensors 2019, 19, 2036. https://doi.org/10.3390/s19092036
Trinh HX, Iwamoto Y, Ho VA, Shibuya K. Localization of Sliding Movements Using Soft Tactile Sensing Systems with Three-axis Accelerometers. Sensors. 2019; 19(9):2036. https://doi.org/10.3390/s19092036Chicago/Turabian Style
Trinh, Hiep Xuan, Yuki Iwamoto, Van Anh Ho, and Koji Shibuya. 2019. "Localization of Sliding Movements Using Soft Tactile Sensing Systems with Three-axis Accelerometers" Sensors 19, no. 9: 2036. https://doi.org/10.3390/s19092036