fnctId=thesis,fnctNo=167
Development of Contact Force Measurement Algorithm for Flexible Tactile Sensor
- 링크
- 작성자
- 김영진
- 저자
- HyeongJun Kim, Suk Lee and KyungChang Lee
- 발행사항
- 발행일
- 2015
- 국문초록
- 영문초록
- Flexible tactile sensors can provide valuable feedback to intelligent robots about the environment. This is especially important when the robots, e.g., service robots, are sharing the workspace with humans. This paper presents a contact force measurement algorithm of a flexible tactile sensor. This sensor is manufactured by directwriting technique, which is one of 3D printing method, using multi-walled carbon nano-tubes. The sensor is made of two carbon-nanotube lines in the 90 degree skewed position, i.e., two lines on different layers with their projections forming 90 degree angle. Based on preliminary experiments, analog and digital signal processing was developed and implemented. An analog signal processing circuit has been designed and implemented to reduce noise contained in the sensor output. In addition, a digital version of Butterworth filter was implemented by software running on a microcontroller. Through various experiments, characteristics of the sensor system have been identified. Based on three traits, an algorithm to detect the contact and measure the contact force has been developed. The entire system showed a promising prospect to detect the contact over a large and curved area.
- 일반텍스트