한국기계가공학회지 (Journal of the Korean Society of Manufacturing Process Engineers)

  • 제14권5호
  • /
  • Pages.28-35
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  • 2015
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  • 1598-6721(pISSN)
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  • 2288-0771(eISSN)
한국기계가공학회 (The Korean Society of Manufacturing Process Engineers)
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저항 스캐닝 방식의 유연 촉각센서 신호 특성분석

Analysis of Signal Characteristics of Resistance Scanning-type Flexible Tactile Sensor

  • 신유영 (부산대학교 기계공학부) ;
  • 김슬기 (부산대학교 기계공학부) ;
  • 이주경 (부산대학교 기계공학부) ;
  • 이석 (부산대학교 기계공학부) ;
  • 이경창 (부경대학교 제어계측공학과)
  • Sin, Yu-Yeong (School of Mechanical Engineering, Pusan Nat'l UNIV.) ;
  • Kim, Seul-Ki (School of Mechanical Engineering, Pusan Nat'l UNIV.) ;
  • Lee, Ju-Kyoung (School of Mechanical Engineering, Pusan Nat'l UNIV.) ;
  • Lee, Suk (School of Mechanical Engineering, Pusan Nat'l UNIV.) ;
  • Lee, Kyung-Chang (Department of Control and Instrumentation Engineering, Pukyong Nat'l UNIV.)
  • 투고 : 2015.06.09
  • 심사 : 2015.08.11
  • 발행 : 2015.10.31
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초록

This paper introduces a resistance scanning-type flexible tactile sensor for intelligent robots and presents the output characteristics of the sensor via signal processing. The sensor was produced via the lamination method using multi-walled carbon nanotubes (a conductive material), an insulator, and Tango-plus (an elastic material). Analog and digital signal processing boards were produced to analyze the output signal of the sensor. The analog signal processing board was made up of an integrator and an amplifier for signal stability, and the digital signal processing board was made up of an IIR filter for noise removal. Finally, the sensor output for the contact force was confirmed through experiments.

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참고문헌

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