Research Based On The Ultra-thin Piezoresistive Conductive Unit Of A Novel Flexible Tactile Sensor

Contact model of the soft-solid surface interactions plays an important role for robotic and mechatronic systems design.Tactile sensing is an essential element of autonomous dexterous robot hand manipulation.It provides information about forces of interaction and surface properties at points of contact between the robot fingers and the objects.The interaction information,such as friction and slippage,is very useful to evaluating the relative motion on the contact surface,and its detection is crucial in grasping and manipulating steadily for a robot.This topic focuses on a novel flexible tactile sensor for robotic dynamic grasping.This tactile sensor is based on ultrathin piezoresistive conductive units,and is capable of for detecting three-dimensional forces on the flexible contact surface.It could provide an important sensing approach for grasping and moving objects safely and steadily by using a robot with tactile sensing feedback.We develop a new model of the soft-solid contact based on this type of sensor for robotic dynamic grasping.In the process of work,we move first from the conceptual technical diagram,and then we simulate the individual components in the testing unit.We create the amplifier via LIT-technology;perform the calibration of the prototype.We present the results of the experiments of our prototype,draw a conclusion about the unsuccessful physical model.From Z axis we obtained good results of sensor response to applied load.But during the calibration process of the X and Y-axis we are faced with the problem of low sensitivity,the gain also does not solve this problem.We decide on the creation of a new prototype.From this experience we developed a new optimal physical model,based on it made the second sample,with different sensors.In this paper,the process of its manufacture is described in detail.We got fairly not bad results,this time we have a good sensitivity along the axis + X,-X,+ Y,-Y axes.The Z-axis also does not raise questions.We obtained a mathematical description for each of the axes,which indicates a successful calibration process.The range of loads along the all axes can be either increased or reduced by the gain factor.On the Z-axis,the sensor can be replaced with another one,with a wider range.It can be concluded that the second sample is suitable for dynamic grasping tasks.