國立虎尾科技大學 |

Microfabricated elastomer tactile sensors for robotic fingertip systems.

紀錄類型:	書目-語言資料,手稿 : Monograph/item
正題名/作者:	Microfabricated elastomer tactile sensors for robotic fingertip systems./
作者:	Charalambides, Alexandros.
面頁冊數:	1 online resource (152 pages)
附註:	Source: Dissertation Abstracts International, Volume: 78-02(E), Section: B.
Contained By:	Dissertation Abstracts International78-02B(E).
標題:	Robotics. -
電子資源:	click for full text (PQDT)
ISBN:	9781369159318

Microfabricated elastomer tactile sensors for robotic fingertip systems.
Charalambides, Alexandros.

Microfabricated elastomer tactile sensors for robotic fingertip systems. - 1 online resource (152 pages)

Source: Dissertation Abstracts International, Volume: 78-02(E), Section: B.

Thesis (Ph.D.)

Includes bibliographical references

This item is not available from ProQuest Dissertations & Theses.

Tactile sensing is an important aspect of robotic systems, and enables safe, dexterous robot-environment interaction. The design and implementation of tactile sensors on robots has been a topic of research over the past 30 years, and current challenges include mechanically flexible "sensing skins", high dynamic range (DR) sensing (i.e.: high force range and fine force resolution), multi-axis sensing, and integration between the sensors and robot. This dissertation focuses on addressing some of these challenges through a novel manufacturing process that incorporates conductive and dielectric elastomers in a reusable, multilength-scale mold, and new sensor designs for multi-axis sensing that improve force range without sacrificing resolution. A single taxel was integrated into a 1 degree of freedom robotic gripper for closed-loop slip detection.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2018

Mode of access: World Wide Web

ISBN: 9781369159318Subjects--Topical Terms:

561941
Robotics.
Index Terms--Genre/Form:

554714
Electronic books.

Microfabricated elastomer tactile sensors for robotic fingertip systems.
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100 1 $a Charalambides, Alexandros. $3 1180289
245 1 0 $a Microfabricated elastomer tactile sensors for robotic fingertip systems.
264 0 $c 2016
300 $a 1 online resource (152 pages)
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500 $a Source: Dissertation Abstracts International, Volume: 78-02(E), Section: B.
500 $a Adviser: Sarah Bergbreiter.
502 $a Thesis (Ph.D.) $c University of Maryland, College Park $d 2016.
504 $a Includes bibliographical references
506 $a This item is not available from ProQuest Dissertations & Theses.
520 $a Tactile sensing is an important aspect of robotic systems, and enables safe, dexterous robot-environment interaction. The design and implementation of tactile sensors on robots has been a topic of research over the past 30 years, and current challenges include mechanically flexible "sensing skins", high dynamic range (DR) sensing (i.e.: high force range and fine force resolution), multi-axis sensing, and integration between the sensors and robot. This dissertation focuses on addressing some of these challenges through a novel manufacturing process that incorporates conductive and dielectric elastomers in a reusable, multilength-scale mold, and new sensor designs for multi-axis sensing that improve force range without sacrificing resolution. A single taxel was integrated into a 1 degree of freedom robotic gripper for closed-loop slip detection.
520 $a Manufacturing involved casting a composite silicone rubber, polydimethylsiloxane (PDMS) filled with conductive particles such as carbon nanotubes, into a mold to produce microscale flexible features on the order of 10s of microns. Molds were produced via microfabrication of silicon wafers, but were limited in sensing area and were costly. An improved technique was developed that produced molds of acrylic using a computer numerical controlled (CNC) milling machine. This maintained the ability to produce microscale features, and increased the sensing area while reducing costs. New sensing skins had features as small as 20 microns over an area as large as a human hand.
520 $a Sensor architectures capable of sensing both shear and normal force sensing with high dynamic range were produced. Using this architecture, two sensing modalities were developed: a capacitive approach and a contact resistive approach. The capacitive approach demonstrated better dynamic range, while the contact resistive approach used simpler circuitry. Using the contact resistive approach, normal force range and resolution were 8,000 mN and 1,000 mN, respectively, and shear force range and resolution were 450 mN and 100 mN, respectively. Using the capacitive approach, normal force range and resolution were 10,000 mN and 100 mN, respectively, and shear force range and resolution were 1,500 mN and 50 mN, respectively.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2018
538 $a Mode of access: World Wide Web
650 4 $a Robotics. $3 561941
650 4 $a Mechanical engineering. $3 557493
650 4 $a Nanotechnology. $3 557660
650 4 $a Materials science. $3 557839
655 7 $a Electronic books. $2 local $3 554714
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710 2 $a University of Maryland, College Park. $b Mechanical Engineering. $3 1178917
773 0 $t Dissertation Abstracts International $g 78-02B(E).
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10161041 $z click for full text (PQDT)