We present the development of a 6 × 6 piezoelectric array sensor for measuring elasticity and force. The proposed sensor employs an impedance measurement technique, sensing the acoustic load impedance of a target by measuring the electrical imp...
High-density tactile sensing has been pursued for humanoid robotic hands to obtain contact force information while the elastomer skin cover is traditionally considered to impair the force discrimination. In this work, we try to utilize the diffusion...
A new flexible piezoelectric tactile sensor array based on polyvinylidene fluoride (PVDF) film is proposed for measuring three-axis dynamic contact force distribution. The array consists of six tactile units arranged as a 3 × 2 matrix with spacing 8...
Robot-assisted cell microinjection, which is precise and can enable a high throughput, is attracting interest from researchers. Conventional probe-type cell microforce sensors have some real-time injection force measurement limitations, which prevent...
Transcatheter aortic valve implantation has shown superior clinical outcomes compared to open aortic valve replacement surgery. The loss of the natural sense of touch, inherited from its minimally invasive nature, could lead to misplacement of the va...
Soft and flexible capacitive tactile sensors are vital in prosthetics, wearable health monitoring, and soft robotics applications. However, achieving accurate real-time force detection and spatial localization remains a significant challenge, especia...
Nowadays, 3D printing is becoming an increasingly common option for the manufacturing of sensors, primarily due to its capacity to produce intricate geometric shapes. However, a significant challenge persists in integrating multiple materials during...
Decoupling research on flexible tactile sensors play a very important role in the intelligent robot skin and tactile-sensing fields. In this paper, an efficient machine learning method based on the improved back-propagation (BP) algorithm is proposed...
The resolution of contact location is important in many applications in robotics and automation. This is generally done by using an array of contact or tactile receptors, which increases cost and complexity as the required resolution or area is incre...
A new surface acoustic wave (SAW)-based rate sensor pattern incorporating metallic dot arrays was developed in this paper. Two parallel SAW delay lines with a reverse direction and an operation frequency of 80 MHz on a same X-112°Y LiTaO3 wafer are f...
This study describes a technique for measuring human grip forces exerted on a cylindrical object via a sensor array. Standardised resistor-based pressure sensor arrays for industrial and medical applications have been available for some time. We used...
This article presents a sensor for detecting the distribution of forces on a surface. The device with nine buttons consisted of an elastomer-based layer as a touch interface resting on a substrate of patterned metallized paper. The elastomer-based la...
This paper presents a contribution to the state of the art in the design of tactile sensing algorithms that take advantage of the characteristics of generalized sparse matrix-vector multiplication to reduce the area, power consumption, and data stora...
Flexible stress sensor arrays, comprising multiple flexible stress sensor units, enable accurate quantification and analysis of spatial stress distribution. Nevertheless, the current implementation of flexible stress sensor arrays faces the challenge...
Cell traction forces (CTFs) are the forces produced by cells and exerted on extracellular matrix or an underlying substrate. CTFs function to maintain cell shape, enable cell migration, and generate and detect mechanical signals. As such, they play a...
Treating ankle fractures in athletes, commonly resulting from training injuries, remains a significant challenge. Current approaches to managing both non-surgical and postoperative foot and ankle disorders have focused on integrating sensory systems...
The optimization of an surface acoustic wave (SAW)-based rate sensor incorporating metallic dot arrays was performed by using the approach of partial-wave analysis in layered media. The optimal sensor chip designs, including the material choice of pi...
Real-time multi-axis distributed tactile sensing is a critical capability if robots are to perform stable gripping and dexterous manipulation, as it provides crucial information about the sensor–object interface. In this paper, we present an op...
This paper reports the design of a tactile sensor patch to cover large areas of robots and machines that interact with human beings. Many devices have been proposed to meet such a demand. These realizations are mostly custom-built or developed in the...
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 i...
Current multi-axis force sensors often rely on complex mechanical structures or arrays of discrete transducers, resulting in larger footprints, higher complexity, and limited scalability for compact applications such as robotic fingertips or wearable...
In robotics, tactile perception is important for fine control using robot grippers and hands. To effectively incorporate tactile perception in robots, it is essential to understand how humans use mechanoreceptors and proprioceptors to perceive textur...
With the increasing complexity of robotic missions and the development towards long-term autonomous systems, the need for multi-modal sensing of the environment increases. Until now, the use of tactile sensor systems has been mostly based on sensing...
As an essential perceptual device, the tactile sensor can efficiently improve robot intelligence by providing contact force perception to develop algorithms based on contact force feedback. However, current tactile grasping technology lacks high-perf...
When a robotic manipulator interacts with its environment, the end-effector forces need to be measured to assess if a task has been completed successfully and for safety reasons. Traditionally, these forces are either measured directly by a 6-dimensi...
Force sensitive conductive composite materials are functional materials which can be used as the sensitive material of force sensors. However, the existing sensors only use one-dimensional electrical properties of force sensitive conductive materials...
We have proposed a flexible sensor that can sense shear and normal forces, and can be fabricated through a simple process using only one layer of polyvinylidene fluoride (PVDF) film. For the measurement of shear and normal forces, one layer of PVDF f...
The ability to measure pressure and force is essential in biomedical applications such as minimally invasive surgery (MIS) and palpation for detecting cancer cysts. Here, we report a force sensor for measuring a shear and normal force by combining an...
This paper proposes the application of a low-cost gas sensor array in an assistant personal robot (APR) in order to extend the capabilities of the mobile robot as an early gas leak detector for safety purposes. The gas sensor array is composed of 16...
There is a critical need for an accurate device for orthodontists to know the magnitude of forces exerted on the tooth by the orthodontic brackets. Here, we propose a new orthodontic force measurement principle to detect the deformation of the elasti...
The development of a high-performance, low-cost, and simply fabricated flexible three-dimensional (3D) force sensor is essential for the future development of electronic skins suitable for the detection of normal and shear forces for several human mo...
Tendon–sheath structures are commonly utilized to drive surgical robots due to their compact size, flexibility, and straightforward controllability. However, long-distance cable tension estimation poses a significant challenge due to its fricti...
In this article we report on a 3 × 3 mm tactile interaction sensor that is able to simultaneously detect pressure level, pressure distribution, and shear force direction. The sensor consists of multiple mechanical switches under a conducting diaphrag...
Tactile sensation is a highly desired function in robotics. Furthermore, tactile sensor arrays are crucial sensing elements in pulse diagnosis instruments. This paper presents the fabrication of an integrated piezoresistive normal force sensor throug...
Tactile perception is a feature benefiting reliable grasping and manipulation. This paper presents the design of an integrated fingertip force sensor employing an optical fiber based approach where applied forces modulate light intensity. The propose...
We propose a concept of a flexible sensor array using a novel capacitive force sensor not having a vulnerable electrode on the force applied site. It has a polymer domed structure inside which silicone oil is contained. When the force is applied, the...
In this article, we report the development of a flexible, 3D printable piezoresistive pressure sensor capable of measuring force and detecting the location of the force. The multilayer sensor comprises of an ionic liquid-based piezoresistive intermed...
In current industrial production, robots have increasingly been taking the place of manual workers. With the improvements in production efficiency, accidents that involve operators occur frequently. In this study, a flexible sensor system was designe...
Tactile sensors are basically arrays of force sensors that are intended to emulate the skin in applications such as assistive robotics. Local electronics are usually implemented to reduce errors and interference caused by long wires. Realizations bas...
Aiming at the application requirements of a field of view (FOV) gated imaging system for all-time star sensors, a key device of a microshutter array with large unit size, high duty cycle, and fast response speed based on the electromagnetic actuation...
Tactile sensors for robotic applications enhance the performance of robotic end-effectors as they ca n provide tactile information to operate various tasks. In particular, tactile sensors can measure multi-axial force and detect slip can aid the end-...
Ever since the development of digital devices, the recognition of human gestures has played an important role in many Human-Computer interface applications. Various wearable devices have been developed, and inertial sensors, magnetic sensors, gyro se...
The present work reports the influence of zinc oxide (ZnO) seed layer annealing temperature on structural, optical and electrical properties of ZnO nanorod arrays, synthesized by hydrothermal method assisted by microwave radiation, to be used as UV s...
A compliant 2x2 tactile sensor array was developed and investigated for roughness encoding. State of the art cross shape 3D MEMS sensors were integrated with polymeric packaging providing in total 16 sensitive elements to external mechanical stimuli...
The quantification of stickiness experienced upon touching a sticky or adhesive substance has attracted intense research attention, particularly for application to haptics, virtual reality, and human–computer interactions. Here, we develop and...
To achieve high performance and wide range detection, we propose an ultra-wide range high sensitivity plasmonic fiber optic sensor with a gold (Au) nanowire group array, which has both propagating surface plasmon resonance (PSPR) and local surface pl...
The force-enhanced light coupling between two optical fibres is investigated for the application in a pressure or force sensor, which can be arranged into arrays and integrated into textile surfaces. The optical coupling mechanisms such as the influe...
In the field of safety and communication of human-robot interaction (HRI), using large-scale electronic skin will be the tendency in the future. The force-sensitive piezoresistive material is the key for piezoresistive electronic skin. In this paper,...
The design of arrays of anisotropic magnetoresistive (AMR) sensors capable of detecting and reconstructing the 3D motion of a permanent magnet, and thus, suitable for the development of a 3D magnetic tactile sensor, is reported. The proposed structur...
High-aspect-ratio (HAR) micropillar arrays offer a wide range of applications in micro-contact printing, switchable transparent optical windows, superhydrophobic surfaces, mechanical sensors, and actuators, due to their properties such as large surfa...
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