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Development of Contact Force Measurement Algorithm for a 3D Printing-type Flexible Tactile Sensor

3D 프린팅 방식 유연 촉각센서의 접촉력 측정 알고리즘 개발

  • Jeong, Kyeong-Hwa (School of Mechanical Engineering, Pusan National University) ;
  • Lee, Ju-Kyoung (School of Mechanical Engineering, Pusan National University) ;
  • Lee, Suk (School of Mechanical Engineering, Pusan National University) ;
  • Lee, Kyung-Chang (Department Control and Instrumentation Engineering, Pukyong National University)
  • 정경화 (부산대학교 기계공학부) ;
  • 이주경 (부산대학교 기계공학부) ;
  • 이석 (부산대학교 기계공학부) ;
  • 이경창 (부경대학교 제어계측공학과)
  • Received : 2015.01.07
  • Accepted : 2015.02.27
  • Published : 2015.06.01

Abstract

Flexible tactile sensors can provide valuable feedback to intelligent robots regarding the environment around them. This is especially important when robots such as, service robots share a workspace with humans. This paper presents a contact force measurement algorithm of a flexible tactile sensor. This sensor is manufactured by a direct-writing technique, which is one 3D printing method, using multi-walled carbon nano-tubes. An analog signal processing circuit has been designed and implemented to reduce noise contained in the sensor output. In addition, a digital version of the Butterworth filter was implemented by software running on a microcontroller. Through various experiments, characteristics of the sensor system have been identified. Based on three traits, an algorithm to detect the contact and measure the contact force has been developed. The entire system showed a promising prospect to detect the contact over a large and curved area.

Acknowledgement

Grant : 첨단 기계부품소재 인력양성사업단

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