Smart Structures and Systems

  • 제9권6호
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  • Pages.535-547
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  • 2012
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  • 1738-1584(pISSN)
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  • 1738-1991(eISSN)
테크노프레스 (Techno-Press)
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Flexible tactile sensor array for foot pressure mapping system in a biped robot

  • Chuang, Cheng-Hsin (Department of Mechanical Engineering & Institute of Nanotechnology, Southern Taiwan University) ;
  • Liou, Yi-Rong (Department of Mechanical Engineering & Institute of Nanotechnology, Southern Taiwan University) ;
  • Shieh, Ming-Yuan (Department of Electrical Engineering, Southern Taiwan University)
  • 투고 : 2011.08.01
  • 심사 : 2012.05.22
  • 발행 : 2012.06.25
⟨ 이전 논문 다음 논문 ⟩

초록

Controlling the balance of motion in a context involving a biped robot navigating a rugged surface or a step is a difficult task. In the present study, a $3{\times}5$ flexible piezoelectric tactile sensor array is developed to provide a foot pressure map and zero moment point for a biped robot. We introduce an innovative concept involving structural electrodes on a piezoelectric film in order to improve the sensitivity. The tactile sensor consists of a polymer piezoelectric film, PVDF, between two patterned flexible print circuit substrates (FPC). Additionally, a silicon rubber bump-like structure is attached to the FPC and covered by a polydimethylsiloxane (PDMS) layer. Experimental results show that the output signal of the sensor exhibits a linear behavior within 0.2 N ~ 9 N, while its sensitivity is approximately 42 mV/N. According to the characteristic of the tactile sensor, the readout module is designed for an in-situ display of the pressure magnitudes and distribution within $3{\times}5$ taxels. Furthermore, the trajectory of the zero moment point (ZMP) can also be calculated by this program. Consequently, our tactile sensor module can provide the pressure map and ZMP information to the in-situ feedback to control the balance of moment for a biped robot.

키워드

과제정보

연구 과제 주관 기관 : National Science Council of Taiwan

참고문헌

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피인용 문헌

  1. “Chemical-pain sensor” based on nanovesicle–carbon nanotube hybrid structures vol.49, 2013, https://doi.org/10.1016/j.bios.2013.04.045
  2. A flexible three-axial capacitive tactile sensor with multilayered dielectric for artificial skin applications vol.23, pp.6, 2017, https://doi.org/10.1007/s00542-016-2936-x