Research on Finger Pressure Tactile Sensor with Square Hole Structure Based on Fiber Bragg Grating

Ultrasensitive measurement of tactile force based on a PDMS-embedded microfiber Mach-Zehnder interferometer

This study investigates the utilization of an in-fiber interferometer embedded in polydimethylsiloxane (PDMS) to develop a highly sensitive tactile sensor. The tapered mode-field mismatch structure is more conducive to stimulating strong high order modes to promote the sensitivity of the sensor. Experimental investigations are conducted to study the sensing performance of the sensor, resulting in a sensitivity of 23.636 nm/N and a detection limit of 0.746 mN. The experiments demonstrate that employing fast Fourier transform (FFT) and inverse FFT (IFFT) methods to filter weak high order modes significantly improves the repeatability of the sensor, resulting in a repeatability error of less than 1%.

Design, Fabrication, and Characterization of Inkjet-Printed Organic Piezoresistive Tactile Sensor on Flexible Substrate

In this paper, we propose a novel tactile sensor with a "fingerprint" design, named due to its spiral shape and dimensions of 3.80 mm × 3.80 mm. The sensor is duplicated in a four-by-four array containing 16 tactile sensors to form a "SkinCell" pad of approximately 45 mm by 29 mm. The SkinCell was fabricated using a custom-built microfabrication platform called the NeXus which contains additive deposition tools and several robotic systems. We used the NeXus' six-degrees-of-freedom robotic platform with two different inkjet printers to deposit a conductive silver ink sensor electrode as well as the organic piezoresistive polymer PEDOT:PSS-Poly (3,4-ethylene dioxythiophene)-poly(styrene sulfonate) of our tactile sensor. Printing deposition profiles of 100-micron- and 250-micron-thick layers were measured using microscopy. The resulting structure was sintered in an oven and laminated. The lamination consisted of two different sensor sheets placed back-to-back to create a half-Wheatstone-bridge configuration, doubling the sensitivity and accomplishing temperature compensation. The resulting sensor array was then sandwiched between two layers of silicone elastomer that had protrusions and inner cavities to concentrate stresses and strains and increase the detection resolution. Furthermore, the tactile sensor was characterized under static and dynamic force loading. Over 180,000 cycles of indentation were conducted to establish its durability and repeatability. The results demonstrate that the SkinCell has an average spatial resolution of 0.827 mm, an average sensitivity of 0.328 mΩ/Ω/N, expressed as the change in resistance per force in Newtons, an average sensitivity of 1.795 µV/N at a loading pressure of 2.365 PSI, and a dynamic response time constant of 63 ms which make it suitable for both large area skins and fingertip human-robot interaction applications.