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Tactile Sensors: LT A C Thomas

Tactile sensors are devices that measure parameters when a sensor contacts an object. There are several types of tactile sensors including optical, piezoelectric, resistive, capacitive, magnetic, and strain gauge sensors. Tactile sensors have applications in measuring local ice loads on ships by testing load distributions and forces during ice contact.

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185 views26 pages

Tactile Sensors: LT A C Thomas

Tactile sensors are devices that measure parameters when a sensor contacts an object. There are several types of tactile sensors including optical, piezoelectric, resistive, capacitive, magnetic, and strain gauge sensors. Tactile sensors have applications in measuring local ice loads on ships by testing load distributions and forces during ice contact.

Uploaded by

Anoop CT
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPT, PDF, TXT or read online on Scribd
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TACTILE SENSORS

LT A C THOMAS
SCOPE
• INTRODUCTION
• RELEVANCE
• TYPES
• MARINE APPLICATIONS
• CONCLUSION
INTRODUCTION
• DEFINITION : TACTILE SENSOR ARE DEVICES
WHICH MEASURES THE PARAMETERS OF A
CONTACT BETWEEN THE SENSOR AND AN
OBJECT.

• THE HUMAN ELEMENT


RELEVANCE
• SINGLE POINT CONTACT
• SENSITIVITY
• SENSOR BAND WIDTH
• LOW HYSTERESIS
• ROBUST
TYPES OF TACTILE SENSORS

• OPTICAL
• PIEZOELECTRIC
• RESISTIVE
• CAPACITIVE
• MAGNETIC
• STRAIN GAUGE
OPTICAL TACTILE SENSORS
OPTICAL FIBRE
BASED SENSOR

• OPTICAL WAVE
GUIDE
• SOFT RUBBER AT
THE SURFACE
• A LIGHT SOURCE
• OPTICAL DETECTOR
OPTICAL TACTILE SENSOR
• PHOTOELASTICITY
• MODULATING THE INTENSITY OF LIGHT BY
MOVING AN OBSTRUCTION INTO THE LIGHT
PATH
OPTICAL TACTILE SENSORS
• TYPES
– INTRINSIC
– EXTRINSIC

• ADVANTAGES
– IMMUNITY TO EXTERNAL ELECTROMAGNETIC
INTERFERENCE
– LOW WEIGHT AND VOLUME
PIEZOELECTRIC SENSORS
PRINCIPLE OF PIEZOELECTRICITY

• CHANGE IN THE PIEZOELECTRIC RESONANCE


FREQUENCY OF THE MATERIAL WITH THE APPLIED
STRESS.

• CHANGES IN ELECTRIC CHARGE


ELECTRIC
PLATES

PIEZO ELECTRIC
CRYSTAL
FORCE or
VIBRATION
V
THE RESONANCE FREQUENCY OF THE RESONATING
MATERIAL :

• T = THICKNESS OF THE PIEZOELECTRIC MATERIAL.


• F0 = NATURAL MECHANICAL RESONANCE
FREQUENCY.
• K = STIFFNESS CONSTANT OF THE MATERIAL.
• P = DENSITY OF THE MATERIAL.

• F = APPLIED FORCE
• ∆f = CHANGE IN FREQUENCY
MATERIALS

POLYVINYLIDENE FLUORIDE (PVDF), QUARTZ, LEAD


ZIRCONATE TITANAATE (PZT)

ADVANTAGE

• GETTING A CONTOUR OF THE OBJECT.


• MEASUREMENT OF PRESSURE
• SIGNAL REGARDING TOUCH AND NO-TOUCH OF
THE OBJECT
RESISTIVE TACTILE SENSORS
BASED ON THE CHANGE OF THE ELECTRICAL
RESISTANCE BETWEEN A CONDUCTIVE
POLYMER AND ATLEAST TWO ELECTRODE
WORKING PRINCIPLE

FIGURE 1

FIGURE 2
SALIENT FEATURES
• A SIMPLE SIGNAL CONDITIONING
ELECTRONICS
• HYPEBOLIC STYLE CHARACTERISTIC BETWEEN
THE LOAD APPLIED AND THE ELECTRICAL
RESISTANCE
• ROBUST DUE TO SIMPLE CONSTRUCTION
CONSTRUCTION
FIGURE 1

FIGURE 2
SENSOR MATERIAL
• EVA FOAM
• SILICON RUBBER
• PTFE
EVA SILICON PTFE
RUBBER
Realizable 150 kPa 100 kPa 2.000 kPa
measurement
range
Temperature -70 to 60 °C -100 to 316 °C -260 to 300 °C
range
Ductility high high low

Polymer type thermoplastic thermoset thermoset

Processing sawing, (jet-) compression (jet-) cutting


cutting, milling molding,
jet cutting injection
molding
CAPACITIVE TACTILE SENSORS
CAPACITIVE SENSORS UTILISE THE CHANGE OF
CAPACITANCE BETWEEN TWO ELECTRODES
COVERING A DEFORMABLE DIELECTRIC.
PRINCIPLE OF WORKING

The basic electrical property of capacitance – a measure of an object’s


ability to store electrical charge –two electrodes with area A separated by
an air gap d as shown. If the air gap decreases, the capacitance C goes
up.
SENSOR TECHNOLOGY COMPARISON
MAGNETIC BASED SENSOR
• TWO APPROACHES
(1) CHANGE OF FLUX DENSITY

-MEASURED USING MAGNETO RESISTIVE DEVICES

(2)CHANGE OF MAGNECTIC COUPLING BETWEEN WINDINGS


-DEFORMATION OF MAGNECTO ELASTIC CORE
MAGNECTIC BASED SENSOR
• ADVANTAGES
– HIGH SENSITIVITY
– DYNAMIC RANGE
– NO MECHANICAL HYSTERESIS
– LINEAR RESPONSE
– ROBUSTNESS
MARINE APPLICATIONS

• Local ice load on ships


– test loads on hull in contact
with ice
– Tested in straight going
and turning modes
– Tested using two models
– Interpreted for the vessel being built
MARINE APPLICATIONS

• Local ice loads on ships

– I-SCAN 210 tectile sensor sheets used

– Sensors located at four positions

– Measures pressure distribution

– Largest loading on bow shoulder


MARINE APPLICATIONS
• Shear and normal force measurements
– Capacitive sensor is used
– Phase and amplitude changes gives forces applied
• Finger tip sensing system in UW Gripper
– Strain gauge sensor used
– Measures force exerted by gripper

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