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Open AccessArticle

Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement

1
State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
2
Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
*
Author to whom correspondence should be addressed.
Micromachines 2019, 10(9), 579; https://doi.org/10.3390/mi10090579
Received: 16 July 2019 / Revised: 21 August 2019 / Accepted: 28 August 2019 / Published: 30 August 2019
(This article belongs to the Special Issue Tactile Sensing Technology and Systems)
Flexible tactile sensor with contact force sensing and surface texture recognition abilities is crucial for robotic dexterous grasping and manipulation in daily usage. Different from force sensing, surface texture discrimination is more challenging in the development of tactile sensors because of limited discriminative information. This paper presents a novel method using the finite element modeling (FEM) and phase delay algorithm to investigate the flexible tactile sensor array for slippage and grooved surfaces discrimination when sliding over an object. For FEM modeling, a 3 × 3 tactile sensor array with a multi-layer structure is utilized. For sensor array sliding over a plate surface, the initial slippage occurrence can be identified by sudden changes in normal forces based on wavelet transform analysis. For the sensor array sliding over pre-defined grooved surfaces, an algorithm based on phase delay between different sensing units is established and then utilized to discriminate between periodic roughness and the inclined angle of the grooved surfaces. Results show that the proposed tactile sensor array and surface texture recognition method is anticipated to be useful in applications involving human-robotic interactions. View Full-Text
Keywords: finite element modeling; surface texture; grooved surface; tactile sensor array; wavelet transform; spectral analysis; inclined angle finite element modeling; surface texture; grooved surface; tactile sensor array; wavelet transform; spectral analysis; inclined angle
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MDPI and ACS Style

Wang, Y.; Chen, J.; Mei, D. Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement. Micromachines 2019, 10, 579.

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