TY - GEN
T1 - Decouple Analysis of Triaxial Tactile Sensor Based on Triangular Comb Electrodes
AU - Liu, Chenying
AU - Luo, Xuesong
AU - Wang, Shaoping
N1 - Publisher Copyright:
© 2018 IEEE.
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 -