Piezoelectric vibration-type tactile sensor with wide measurement range using elasticity and viscosity change

Kohei Motoo, Toshio Fukuda, Fumihito Arai, Takayuki Matsuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

We propose a new tactile sensor utilizing piezoelectric vibration. This tactile sensor has a high sensitivity, wide measurement range, pressure resistance, flexibility, and self-sensing function. This tactile sensor comprises two piezoelectric materials. One is used for the vibration of the sensor element and the other is used for the measurement of the change in mechanical impedance induced by an external force. We achieved the wide measurement range by implementing two ideas. One was to apply the external force to the sensor element through an elastic body and the other was to use two or more modes of vibration. Moreover, for the elastic body, it is preferable to use a material whose elasticity and viscosity are easily changed by an external force, such as a gel. In this study, first, this tactile sensor was analyzed, and then its characteristics were derived. The analytical results qualitatively corresponded to the experimental results. Next, a prototype tactile sensor was fabricated and evaluated. The evaluation results showed that this tactile sensor can measure a pressure of 2.5 Pa or less and a pressure of 10 kPa or more and its pressure resistance is 1 MPa or more.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages1946-1951
Number of pages6
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: Oct 9 2006Oct 15 2006

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period10/9/0610/15/06

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Keywords

  • Piezoelectric vibration-type sensor
  • Robot hand
  • Self-sensing
  • Tactile sensor

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Motoo, K., Fukuda, T., Arai, F., & Matsuno, T. (2006). Piezoelectric vibration-type tactile sensor with wide measurement range using elasticity and viscosity change. In IEEE International Conference on Intelligent Robots and Systems (pp. 1946-1951). [4058665] https://doi.org/10.1109/IROS.2006.282323