DOI QR코드

DOI QR Code

Flexible tactile sensor array for foot pressure mapping system in a biped robot

  • Chuang, Cheng-Hsin (Department of Mechanical Engineering & Institute of Nanotechnology, Southern Taiwan University) ;
  • Liou, Yi-Rong (Department of Mechanical Engineering & Institute of Nanotechnology, Southern Taiwan University) ;
  • Shieh, Ming-Yuan (Department of Electrical Engineering, Southern Taiwan University)
  • 투고 : 2011.08.01
  • 심사 : 2012.05.22
  • 발행 : 2012.06.25

초록

Controlling the balance of motion in a context involving a biped robot navigating a rugged surface or a step is a difficult task. In the present study, a $3{\times}5$ flexible piezoelectric tactile sensor array is developed to provide a foot pressure map and zero moment point for a biped robot. We introduce an innovative concept involving structural electrodes on a piezoelectric film in order to improve the sensitivity. The tactile sensor consists of a polymer piezoelectric film, PVDF, between two patterned flexible print circuit substrates (FPC). Additionally, a silicon rubber bump-like structure is attached to the FPC and covered by a polydimethylsiloxane (PDMS) layer. Experimental results show that the output signal of the sensor exhibits a linear behavior within 0.2 N ~ 9 N, while its sensitivity is approximately 42 mV/N. According to the characteristic of the tactile sensor, the readout module is designed for an in-situ display of the pressure magnitudes and distribution within $3{\times}5$ taxels. Furthermore, the trajectory of the zero moment point (ZMP) can also be calculated by this program. Consequently, our tactile sensor module can provide the pressure map and ZMP information to the in-situ feedback to control the balance of moment for a biped robot.

키워드

과제정보

연구 과제 주관 기관 : National Science Council of Taiwan

참고문헌

  1. Cavanagh, P.R., Hewitt, F.G. and Perry, J.E. (1992), "In-shoe plantar pressure measurement: a review", The Foot, 2(4), 185-194. https://doi.org/10.1016/0958-2592(92)90047-S
  2. Chuang, C.H., Dong, W.B. and Lo, W.B. (2008), "Flexible piezoelectric tactile sensor with structural electrodes array for shape recognition system", Proceedings of the IEEE 3rd International Conference on Sensing Technology, Tainan, Nov.
  3. Chuang, C.H. (2009), Flexible piezoelectric tactile sensor with structural electrodes array, Recent Adv. In Sensing Technology, LNEE 49, 189-202. Springer.
  4. Chuang, C.H., Lu, C.T. and Fang, T.H. (2009), "Slippage and direction sensing based on a flexible tactile sensor with structural electrodes", Proceedings of the IEEE SENSORS 2009, New Zealand, Oct.
  5. Interlink Electronics Inc. (2011), On-Line, Available from Internet, http://www.interlinkelec.com/, accessed 23 May 2011.
  6. Forner-Cordero, A., Koopman, H.J.F.M. and van der Helm, F.C.T. (2006), "Inverse dynamics calculations during gait with restricted ground reaction force information from pressure insoles", Gait Posture, 23(2), 189-199. https://doi.org/10.1016/j.gaitpost.2005.02.002
  7. Kalamdani, A.A. (2006), Development and characterization of a high-spatial-temporal-resolution foot-solepressure measurement system, Technical Report, CMU-RI-TR-06-38, Carnegie Mellon University, PA, Aug.
  8. MacWilliams, B.A. and Armstrong, P.F. (2000), Clinical applications of plantar pressure measurement in pediatric orthopedics, A New Millennium in Clinical Care and Motion Analysis Technology on Pediatric Gait, NJ, April.
  9. Mergner, T., Schweigart, G. and Fennell, L. (2008), "Vestibular humanoid postural control", Physiology, 103(3- 5), 178-194.
  10. Park, J.H. (2003), "Fuzzy-logic zero-moment-point trajectory generation for reduced trunk motions of biped robots", Fuzzy Set. Syst., 134(1), 189-203. https://doi.org/10.1016/S0165-0114(02)00237-3
  11. Qasaimeh, M.A., Sokhanvar, S., Dargahi, J. and Kahrizi, M. (2009), "PVDF-Based microfabricated tactile sensor for minimally invasive surgery", J. Microelectromech. S., 18(1), 195-207. https://doi.org/10.1109/JMEMS.2008.2008559
  12. Saito, N., Satoh, T. and Okano, H. (2006), "Grasping force control in consideration of translational and rotational slippage by a flexible sensor", Proceedings of the IECON 32nd Annual Conference on IEEE Industrial Electronics, Paris, Nov.
  13. Tekscan Inc. (2011), On-Line, Available from Internet, http://www.tekscan.com/, accessed 23 May 2011.
  14. Teshigawara, S., Ishikawa, M. and Shimojo, M. (2008), "Study of high speed and high sensitivity slip sensor characteristic of conductive material", Proceedings of the SICE Annual Conference, Tokyo, Aug.
  15. Shieh, M.Y., Chen, C.S., Chuang, C.H., Liou ,Y.R. and Li, J.H. (2012), "Gait detection based stable locomotion control system for biped robots", Comput. Math. Appl., in press. https://doi.org/10.1016/j.camwa.2012.03.090
  16. Vukobratovic, M. and Borovac, B. (2004), "Zero-moment point - thirty five years of its life", Int. J. Hum. Robot., 1(1), 157-173. https://doi.org/10.1142/S0219843604000083
  17. Welton, E.A. (1992), "The Harris and Beath footprint: interpretation and clinical value", Foot Ankle Int., 13(8), 268-462.
  18. Woodbum, J. and Helliwell, P.S. (1997), "Observations on the F-Scan in shoe pressure measuring system", Clin. Biomech., 11(5), 301-304.
  19. Yip, S.W. and Prieto, T.E. (1996), "A system for force distribution measurement beneath the feet", Proceedings of the 1996 15th Southern Biomedical Engineering Conference, Dayton, Mar.
  20. Yu, K.H., Yoon, M.J., Kwon, T.K. and Lee, S.C. (2003), "Distributed flexible tactile sensor system", Int. J. Appl. Electrom., 1-3(18), 53-65.
  21. Zhu, H., Maalej, N., Webster, J.G., Tompkins, W.J., Bach-y-Rita, P. and Wertsch, J.J. (1990), "An umbilical dataacquisition system for measuring pressures between the foot and shoe", IEEET. Bio-Med. Eng., 37(9), 908-911. https://doi.org/10.1109/10.58601

피인용 문헌

  1. “Chemical-pain sensor” based on nanovesicle–carbon nanotube hybrid structures vol.49, 2013, https://doi.org/10.1016/j.bios.2013.04.045
  2. A flexible three-axial capacitive tactile sensor with multilayered dielectric for artificial skin applications vol.23, pp.6, 2017, https://doi.org/10.1007/s00542-016-2936-x