Flexible Tactile Sensor
 



 


- OVER VIEW -


 

This research is the development of a distributed flexible tactile sensor for service robots using PVDF(polyvinylidene fluoride) film for the detection of the contact state in real time. We have developed various array sensor - 3x3 Array, and 8x8 Array. This method is simple and easy to make the sensor in the laboratory without using any special equipment. The signals of a contact pressure to the tactile sensor is sensed and processed in DSP system. The processed signals of the outputs of the sensor are visualized in personal computer.

 
 

3X3 Tactile Sensor : Array
 



 

- Nine taxels arranged in a matrix form: 5mm×5mm.
- The interval space between sensing elements: 2mm.
- Wire the elements on the top surface.
- The bottom is commonly grounded.
- The end part of the wire is designed to fit to the half-pitch connector.
- The whole size of the sensor array: 19mm×19mm.
- Sensor are coated with silicone.

 



 

 
 

8X8 Tactiile Sensor : Array
 



 

- 64 taxels arranged in a matrix form: 1.5mm×1.5mm.
- The interval space between sensing elements: 1mm.
- Thickness of 4 layer film: about 320um.
- The bottom is commonly grounded.
- The end part of the wire is designed to fit to the half-pitch connector.
- The whole size of the sensing area: 16.5mm×16.5mm.
- Sensor are coated with silicone.







 

 
 

Publications
 

  • Byungjune Choi, Kwangmok Jung, Jae-do Nam, Sangmoo Lee, Yasuyoshi Yokokohji, and Hyouk Ryeol Choi, Multilayered and Arrayed Flexible Tactile Sensor
    Using PVDF, Solid State Phenomena, vol.120, pp.229-234, 2007
  • K. X. Phan, M. S. Cho, J. D. Nam, H. R. Choi, J. C. Koo, and Y. Lee, Preparation of Polydivinylbenzene/Au Core-Shell Beads, Key Engineering Materials, vols.326-328, pp.1515-1518, 2006
  • Xianming, Byungjune Choi, Sanghun Lee, Sungchul kang, Hyouk Ryeol Choi, Roughness Perception with Tactile Sensor, 한국지능로봇 하계 종합학술대회, pp.343-348, 2006/06/14-2006/06/16
  • Seon-Sik Yoon, Sungchul Kang, Woo Sub Lee, Hyoukryeol Choi, and Sang-Rok Oh, Fine Feature Sensing and Restoration by Tactile examination of PVDF Sensor, in Proc. Int. Conf. Control, Automation and Systems, pp. 942-947, 2003/10/22- 2003/10/25
  • Hyungtae Kim , Kwangmok Jung, Kyungsub Kim, Jae-Do Nam, Hyoukryeol Choi, Development of Flexible Tactile Sensor Array, in Proc. Int. Conf. Control, Automation and Systems, pp.1824-1829, 2002/10/16 ~ 10/19
  • 이경섭, 김동욱, 김형태, 정광목, 최혁렬, 남재도, "분포형 촉각센서를 위한 압전성 PVDF 필름의 극화 특성" 폴리머 제28권 제5호, pp. 361-366, 2004.
  • Byungjune Choi, Sungchul Kang, Hyoukryeol Choi "Development of Fingertip Tactile Sensor for Detecting Normal Force and Slip" in Proc. Int. Conf. Control, Automation and Systems, pp. 1808-1813, 2005.
  • H. R Choi, S. M Ryew, K. M Jung, H. M Kim, J. W Jeon, J. D Nam, R. Maeda, and M. Tanie, "Micro Robot Actuated by Soft Actuators Based on Dielectric Elastomer " Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 1730-1735, 2002.
  • H. R. Choi, "Micro Robot Actuated by Artificial Muscle Actuators Based on Dielectric Elastomer" 2nd China-Korea Workshop on Robotics, pp. 51-56, 2002.
  • Sunghwi Cho, Sungmoo Ryew, Jae wook Jeon, Hunmo Kim, Jae- Do Nam, Hyoukryeol Choi, "Development of micro inchworm robot actuated by electrostrictive polymer actuator" SPIE Smart Structures and Materials 2001 Electroactive Polymer Actuators and Devices, pp. 466-474, 2001.
  • Kwangmok Jung, Sungmoo Ryew, Hunmo Kim, Jae-do Nam, Jae wook Jeon, Hyoukryeol Choi, "Realization of Cilia Motion of Annelida by Distributed IPMC Actuators " Proc. Int. Conf. Control, Automation and Systems, pp. 780-783, 2001.
 
 

Project
 

  • 한국과학기술연구원
    PVDF 기반의 소형 고감도 Texture sensor 유닛개발 (2004. 1. 1 ~ 2004. 12. 31)
     

 
 
 

Researcher
 

 


Contact: Prof. H. R. Choi ( hrchoi@me.skku.ac.kr )