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Abstract
Deformable layer
Receiver
Optoelectronic couple An external force applied to the deformable layer is transduced into a vertical displacement measured by the optoelectronic couple.
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I. Introduction
Purpose Robots adapt their behavior intelligently To avoid unintended collisions (safe operation around humans).
Method
Scalable and modular artificial skin based on photo-reflectors Force Sensor Resistive An artificial skin based on capacitive technology
Disadvantages
Expensive component Implies a high hysteresis Complex manufacturing process The dimensions and the complexity of the circuit for addressing the sensor elements
A novel artificial skin concept The sensing element (taxel) consists of a couple of infrared Light Emitting Diode (LED) and Photo-Detector (PD) covered by a silicone layer The word taxel derives from the union of the words tactile element.
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a = 71 mm; c = 9 mm;
b = 15 mm; d = 13 mm;
Silicon = 3 mm;
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The sensor skin is obtained connecting m skin modules. The master sends data to the first slave and it receives data from the m-th slave The maximum number of slave depend on the bus capacitance and the transmission rate
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III. Experiments
7 x 3 Taxels
7 x 4 Taxels
Voltage variations for taxel are sufficiently high and noise-free to be directly digitalized without any amplification and/or filtering stage. -7-
The scalability of the system has been tested by inserting a new slave module into the chain.
III. Experiments
Calibration setup
In order to identify a relationship between the external force applied on the deformable layer and the phototransistor signal variations
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III. Experiments
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My opinion Measurement method is not efficient. Need method to handle all of the received signal rather than handle 1 signals from several sensors
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