biomimetics presentaion 20131014

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2013. 10. 07

137215

LE PHAN HUNG



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Abstract

An external force applied to the deformable layer is transduced into a vertical

displacement measured by the optoelectronic couple.

Deformable

layer

Emitter

Receiver

Optoelectronic couple

Chain of

Optoelectronic

sensor array



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I. Introduction

Purpose

Robots adapt their behavior “intelligently” To avoid unintended collisions (safe operation around humans).

Method Disadvantages

Scalable and modular artificial

skin based on photo-reflectors Expensive component

Force Sensor ResistiveImplies a high hysteresis

Complex manufacturing process

An artificial skin based on

capacitive technology

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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II. Sensor Description

Working Principle

Deformable layer made by silicon.

Support layer to optimize sensor full-

scale and sensitivity.

Emitter & Receiver to measure the

displacement

Two resistors To convert the measured photocu

rrent into a voltage signal.

To fix the emitted light intensity.

A skin module is constituted by n sen

sing elements and a microcontroller

a = 71 mm; b = 15 mm;

c = 9 mm; d = 13 mm;

Support layer = 2 mm; Silicon = 3 mm;



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Working Principle

The sensor skin is obtained conne-

cting m skin modules.

The master sends data to the first

slave and it receives data from the

m-th slave

The maximum number of slavedepend on the bus capacitance and

the transmission rate



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Sensor Prototype

Modularity and Scalability.

Low-power consumption.

Low-cost and light-weight.

Soft interface.

Fast response and low number of wires.

Easy of manufacturing.


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III. Experiments

Voltage variations for taxel are sufficiently high and

noise-free to be directly digitalized without any

amplification and/or filtering stage.

The scalability of the system has been tested by

inserting a new slave module into the chain.

7 x 3 Taxels7 x 4 Taxels



III. Experiments

Calibration setup

In order to identify a relationship between

the external force applied on the deform-

able layer and the phototransistor signal

variations



III. Experiments

Evaluation of measurement repeatabilityfor a single taxel

Evaluation of hysteresis for a single taxel



IV. Conclusions And Future Works

Can be inserted or removed from the chain without any

hardware and/or software changes Ensuring an high scalability.

Lack of conformability.

The number of modules grow, the calibration might take

too time

My opinion Measurement method is not efficient.

Need method to handle all of the received signal rather thanhandle 1 signals from several sensors

biomimetics presentaion 20131014

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