Decouple Analysis of Triaxial Tactile Sensor Based on Triangular Comb Electrodes

Chenying Liu; Xuesong Luo; Shaoping Wang

doi:10.1109/ICSENS.2018.8589551

Decouple Analysis of Triaxial Tactile Sensor Based on Triangular Comb Electrodes

Chenying Liu
, Xuesong Luo
, Shaoping Wang

School of Automation Science and Electrical Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

Tactile sensing provides contact force information between grippers and objects for better manipulation. How to receive higher integration of tactile information, especially in measurement of tangential force, is under further discussion. Design, decoupling and simulation results of a tactile sensor which satisfies triaxial force information is presented in this paper. The sensor, based on triangular top and bottom plates, comprises two layers shaped of floating comb-like electrodes. The proposed structure guarantees the sensor's sensitivity to both normal and tangential force with a smaller size. Testing results proves that displacement of the sensor's plates can be analytically decoupled. Capacitance change of the sensor shows high linearity to triaxial force.

Original language	English
Title of host publication	2018 IEEE SENSORS, SENSORS 2018 - Conference Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781538647073
DOIs	https://doi.org/10.1109/ICSENS.2018.8589551
State	Published - 26 Dec 2018
Event	17th IEEE SENSORS Conference, SENSORS 2018 - New Delhi, India Duration: 28 Oct 2018 → 31 Oct 2018

Publication series

Name	Proceedings of IEEE Sensors
Volume	2018-October
ISSN (Print)	1930-0395
ISSN (Electronic)	2168-9229

Conference

Conference	17th IEEE SENSORS Conference, SENSORS 2018
Country/Territory	India
City	New Delhi
Period	28/10/18 → 31/10/18

Keywords

floating comb electrodes
structure design
tactile sensor
triaxial force decoupling

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10.1109/ICSENS.2018.8589551

Cite this

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title = "Decouple Analysis of Triaxial Tactile Sensor Based on Triangular Comb Electrodes",

abstract = "Tactile sensing provides contact force information between grippers and objects for better manipulation. How to receive higher integration of tactile information, especially in measurement of tangential force, is under further discussion. Design, decoupling and simulation results of a tactile sensor which satisfies triaxial force information is presented in this paper. The sensor, based on triangular top and bottom plates, comprises two layers shaped of floating comb-like electrodes. The proposed structure guarantees the sensor's sensitivity to both normal and tangential force with a smaller size. Testing results proves that displacement of the sensor's plates can be analytically decoupled. Capacitance change of the sensor shows high linearity to triaxial force.",

keywords = "floating comb electrodes, structure design, tactile sensor, triaxial force decoupling",

author = "Chenying Liu and Xuesong Luo and Shaoping Wang",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 17th IEEE SENSORS Conference, SENSORS 2018 ; Conference date: 28-10-2018 Through 31-10-2018",

year = "2018",

month = dec,

day = "26",

doi = "10.1109/ICSENS.2018.8589551",

language = "英语",

series = "Proceedings of IEEE Sensors",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2018 IEEE SENSORS, SENSORS 2018 - Conference Proceedings",

address = "美国",

}

Liu, C, Luo, X & Wang, S 2018, Decouple Analysis of Triaxial Tactile Sensor Based on Triangular Comb Electrodes. in 2018 IEEE SENSORS, SENSORS 2018 - Conference Proceedings., 8589551, Proceedings of IEEE Sensors, vol. 2018-October, Institute of Electrical and Electronics Engineers Inc., 17th IEEE SENSORS Conference, SENSORS 2018, New Delhi, India, 28/10/18. https://doi.org/10.1109/ICSENS.2018.8589551

Decouple Analysis of Triaxial Tactile Sensor Based on Triangular Comb Electrodes. / Liu, Chenying; Luo, Xuesong; Wang, Shaoping.
2018 IEEE SENSORS, SENSORS 2018 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., 2018. 8589551 (Proceedings of IEEE Sensors; Vol. 2018-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Decouple Analysis of Triaxial Tactile Sensor Based on Triangular Comb Electrodes

AU - Liu, Chenying

AU - Luo, Xuesong

AU - Wang, Shaoping

PY - 2018/12/26

Y1 - 2018/12/26

N2 - Tactile sensing provides contact force information between grippers and objects for better manipulation. How to receive higher integration of tactile information, especially in measurement of tangential force, is under further discussion. Design, decoupling and simulation results of a tactile sensor which satisfies triaxial force information is presented in this paper. The sensor, based on triangular top and bottom plates, comprises two layers shaped of floating comb-like electrodes. The proposed structure guarantees the sensor's sensitivity to both normal and tangential force with a smaller size. Testing results proves that displacement of the sensor's plates can be analytically decoupled. Capacitance change of the sensor shows high linearity to triaxial force.

AB - Tactile sensing provides contact force information between grippers and objects for better manipulation. How to receive higher integration of tactile information, especially in measurement of tangential force, is under further discussion. Design, decoupling and simulation results of a tactile sensor which satisfies triaxial force information is presented in this paper. The sensor, based on triangular top and bottom plates, comprises two layers shaped of floating comb-like electrodes. The proposed structure guarantees the sensor's sensitivity to both normal and tangential force with a smaller size. Testing results proves that displacement of the sensor's plates can be analytically decoupled. Capacitance change of the sensor shows high linearity to triaxial force.

KW - floating comb electrodes

KW - structure design

KW - tactile sensor

KW - triaxial force decoupling

UR - https://www.scopus.com/pages/publications/85060857095

U2 - 10.1109/ICSENS.2018.8589551

DO - 10.1109/ICSENS.2018.8589551

M3 - 会议稿件

AN - SCOPUS:85060857095

T3 - Proceedings of IEEE Sensors

BT - 2018 IEEE SENSORS, SENSORS 2018 - Conference Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 17th IEEE SENSORS Conference, SENSORS 2018

Y2 - 28 October 2018 through 31 October 2018

ER -

Decouple Analysis of Triaxial Tactile Sensor Based on Triangular Comb Electrodes

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Keywords

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