Spatial Resolution Enhancement for Capacitive Tactile Sensor

• Main Authors: Mochtar Chandra, 劉健豪
• Other Authors: Lo, Cheng Yao
• Format: Others
• Language: en_US
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/61809845252462980860

碩士 === 國立清華大學 === 奈米工程與微系統研究所 === 104 === An improved spatial resolution capacitive tactile sensor is achieved in this work by employing a novel detection algorithm, which reduces the uses of number of capacitors in one sensing unit. Two novel models are proposed and realized to at least double and quadruple the current spatial resolution. The tactile sensor could detect three-axial force and compute the complete 360° shear force angle that applied on the upper sensor surface. Not only the detection algorithm has been developed, the shape of the electrodes of the sensing elements has also been modified and studied to obtain a symmetry x-y spatial resolution. Furthermore, the sensor is fabricated using elastic materials to provide a skin-like device on robot’s tactile perception. A simulation model is built in parallel to understand the device mechanical behaviors and electrical responses under various loads. The angle calculation error by several important parameters such as mechanical properties and fabrication defect has also been comprehensively identified and discussed to produce a better yet realizable tactile sensor.