• 한국기계가공학회지
• /
• 제13권2호
• /
• pp.8-14
• /
• 2014

Many kinds of robots and machines have been developed to replace human laborin industrial and medical fields, as well as domestic life. In these applications, the device sneed to obtain environmental data using diverse sensors. Among such sensors, the tactile sensor is important because of its ability to get information regarding surface texture and force through the use of mechanical contact. In this research, a simple tactile sensor was developed using the direct writing of pressure sensitive material and layered fabrication of photocurable material. The body of the sensor was fabricated using layered fabrication, and pressure sensitive materials were dispensed between the layers using direct writing. We examined the line fabrication characteristics of the pressure sensitive material according to nozzle dispensing conditions. A simple $4{\times}4$ array flexible tactile sensor was successfully fabricated using the proposed process.

• 한국의류학회지
• /
• 제24권1호
• /
• pp.77-86
• /
• 2000

Purposes of this study were firstly to refine the measurement technique of tactile sensation and sensibility induced by touching the fabrics and secondly to investigate the differences of tactile sensibility depending on environmental conditions and the type of polyester fabrics. The environmental conditions were controlled at 20$\pm$1$^{\circ}C$, 65$\pm$3%RH(standard) and at 29$\pm$1$^{\circ}C$, 75$\pm$3%RH(warm & humid). As results, three factors were extracted from factor analysis of sensory assessment scale. The first factor was thickness and weight, the second one was surface-related property and the third one was stiffness in both environments. Depending on the environmental conditions, heat and moisture-related sensations such as [cold], [damp] and [dry & drapable] were affected significantly. Regression equations with the sensation descriptors were developed for the prediction of tactile sensibility(R2>.89). While the most efficient descriptor was [thin & flexible] in the standard environmental conditions, that was [dry & drapable] in the warm & humid environmental condition.

• 한국정밀공학회지
• /
• 제31권2호
• /
• pp.149-156
• /
• 2014

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 human. This paper presents a flexible tactile sensor that was manufactured by direct writing technique, which is one of 3D printing method with multi-walled carbon nano-tubes. The signal processing system consists of two parts: analog circuits to amplify and filter the sensor output and digital signal processing algorithms to reduce undesired noise. Finally, experimental setup is implemented and evaluated to identify the characteristics of the flexible tactile sensor system. This paper showed that this type of sensors can detect the initiation and termination of contacts with appropriate signal processing.

• 한국인지과학회:학술대회논문집
• /
• 한국인지과학회 2010년도 춘계학술대회
• /
• pp.48-54
• /
• 2010

INTRODUCTION Interaction between temporal events at the millisecond level is important for visual and tactile interaction. OBJECT The aim of the present study is to identify any neural signature, as reflected in event-related potentials (ERP), for the integrative processes when the two sensory modalities are stimulated in synchrony as opposed to when they are stimulated separately. METHOD The basic strategy was to compare ERP signals obtained with simultaneous visual and tactile stimulation with a linear summation of ERP patterns obtained with each modality stimulated separately. Condition were presented, paired with various stimulus-onset-asynchronies (SOA) ranging from - 300 ms (tactile-first) to 300 ms (visual-first), and in trials where only one modality was stimulated alone. RESULT A positive deviation was located in observed ERP at C4 electrode (contralateral to the stimulated hand) at 200-400 ms, in comparison to the predicted ERP. The deviation was present at all SOAs other than -300ms (tactile-first) and 300 ms (visual-first). There was also a positive deviation at occipital leads at the 50-ms SOA (visual-first) trials. DISCUSSION It suggested that neural signatures of cross-modal integration occur within a limited time-window. The deviations were specifically localized at the contralateral somatosensory and visual cortices, indicating that the integration happens at or before the level of the primary cortices.

• 한국지능시스템학회논문지
• /
• 제15권7호
• /
• pp.870-874
• /
• 2005

본 논문에서는 외부의 힘을 효율적으로 감지하기 위한 촉각센서의 설계 및 이론적인 해석해 관한 것이다. 일반적으로 촉각센서가 표면의 변화를 감지하기 위해서는 외부의 자극을 센서부에 효과적으로 전달할 수 있어야 하기 때문에 미세한 힘에도 변화를 감지할 수 있는 센서의 설계가 필요하다. 이에 본 논문에서는 양전극 사이에 유연성을 갖는 유전체를 사용하여 서 보다 효율적인 감지가 가능하도록 하였다. 즉, 상층부에 설치되어 있는 센서부가 하층부에 설치되어 있는 센서들과 형성하는 전계의 변화로 인하여 발생하는 전압의 차이를 감지하도록 하였으며, 상층부와 하층부의 사이에 일정의 유연성을 갖는 유전체를 삽입함으로써 효율적인 촉각 감지를 할 수 있도록 설계하였다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.390-390
• /
• 2000

This research is the development of a skin-type tactile sensor for service robot using PVDF film for the detection of the contact state. The Prototype of the tactile sensor which has 8$\times$8 taxels was fabricated using PVDF film In the fabrication procedure of the sensor, the electrode patterns and common electrode of the thin conductive tape were attached to the both side of the 28 micro meter thickness PVDF film using conductive adhesive. The sensor was covered with polyester film for insulation and attached to the rubber base for making stable structure. The signals of a contact pressure to the tactile sensor were sensed and processed in the DSP system in which the signals were digitized and filtered. Finally, the signals were integrated for taking the force profile. The processed signals of the output of the sensor were visualized in PC, the shape and force distribution of the contact object were obtained. The reasonable performance for the detection of contact state was verified through the experiment.

• 센서학회지
• /
• 제11권4호
• /
• pp.200-208
• /
• 2002

This paper represents the development of an array-type flexible tactile sensor using PVDF(polyvinylidene fluoride) film and flexible circuitry. The tactile sensor which has $8{\times}8$ taxels is made by using PVDF film and FPC(flexible printed circuit) technique. Experimental results on static and dynamic properties are obtained by applying arbitrary forces and frequencies generated by the shaker. In the static characteristics, the threshold and the linearity of the sensor are investigated. Also dynamic response of the sensor subjected to the variable frequencies is examined. The signals of a contact force to the tactile sensor are sensed and processed in the DSP system in which the signals are digitalized and filtered. Finally, the signals are integrated for taking the force profile. The processed signals of the outputs of the sensor are visualized on a personal computer, the shape and force distribution of the contacted object are obtained using two and three-dimensional image in real time. The reasonable performance for the detection of contact state is verified through the experiment.

• 한국정밀공학회지
• /
• 제19권1호
• /
• pp.212-218
• /
• 2002

This research is the development of a distributed tactile sensor using PVDF film far the detection of the contact state. The prototype of the tactile sensor with 8$\times$8 taxels was fabricated using PVDF film and flexible circuitry. In the fabrication procedure, the electrode and the common electrode patterns are attached to the both side of the 28${\mu}m$ thickness PVDF film. The sensor is covered with polyester film for insulation. The signals of a contact pressure to the tactile sensor are sensed and processed in the DSP system in which the signals are digitalized and filtered. And the signals are integrated for taking the force profile. The processed signals of the output of the sensor are visualized to take the shape and force distribution of the contact object in personal computer. The usefulness of the sensor system is verified through the sensing examples.

• The Korean Journal of Pain
• /
• 제12권1호
• /
• pp.8-15
• /
• 1999

Following peripheral nerve injury, rats will show a tactile allodynia and hyperalgesia. But the mechanism of allodynia is still obscure. The present studies, using rats rendered allodynia by loosely constrictive ligation of the common sciatic nerve (Bennett Model) and tight ligation of L5 & L6 spinal nerve (Chung Model), aimed to investigate the changes of metabotrophic glutamate receptor type 5 on the development of tactile allodynia. Male Sprague-Dawley rats (130~200 g) were anesthetized with halothane, the rats were randomly divided into one of these three groups, Group 1 (Sham operation), Group 2 (Bennett model) and Group 3 (Chung model). Seven days after surgical procedure, the animal was reanesthetized and decapitated. The spinal cord was quickly removed and stored at deep freezer for polymerase chain reaction (RT-PCR). In Group 2&3, rats showed that tactile allodynia checked by up-down method with calibrated 8 von Frey hair. The level of gene expression of mGluR5 mRNA was significantly increased in group 2 and 3. These increases was significantly different from sham operation, group 1. It was also showed that the increasing patterns of group 2 and 3 in the gene expression were similar correlation with the results of the threshold for tactile allodynia on von Frey hair test. Even though there were some differences between Bennett model and Chung model, these results suggested that mGluR5 had partly attributed to making a tactile allodynia from these models.

• 대한임상전기생리학회지
• /
• 제2권1호
• /
• pp.59-70
• /
• 2004

The purpose of this study were to determine the changes between pre, during, intermed, post of each two groups of 16 persons and to compare the effect of transcutaneous electrical nerve stimulation(TENS) at shenmen of auricular point on experimental pressure pain and tactile threshold measured at both ulnar styloid process and medial malleoli. Sixteen healthy adult men and women, aged 20 to 28 years, were assigned randomly to eight of one groups. Control group received TENS to exception of auricular point. Experimental group received TENS to shenmen of auricular point. Experimental pressure pain and tactile pain threshold at the both ulnar styloid process and medial malleoli was determined with algometer and von frey filament before 10 minute, during 10 minute, intermediate and post 30 min of treatment. In pressure pain and tactile threshold showed a statistically significant increase(p<0.05) ipsilateral and contralateral of treatment group. These results suggest that TENS at shenmen of auricular point has the capability to higher pressure pain and tactile threshold in whole body.