• Transactions on Electrical and Electronic Materials
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• v.13 no.5
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• pp.215-220
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• 2012

Miniature ultrasonic and tactile sensors on Si substrate have been proposed, fabricated and characterized to detect objects for a dexterous robot. The ultrasonic sensor consists of piezoelectric PZT thin film on a Pt/Ti/$SiO_2$ and/or Si diaphragm fabricated using a micromachining technique; the ultrasonic sensor detects the piezoelectric voltage as an ultrasonic wave. The sensitivity has been enhanced by improving the device structure, and the resonant frequency in the array sensor has been equalized. Position detection has been carried out by using a sensor array with high sensitivity and uniform resonant frequency. The tactile sensor consists of four or three warped cantilevers which have NiCr or $Si:B^+$ piezoresistive layer for stress detection. Normal and shear stresses can be estimated by calculation using resistance changes of the piezoresitive layers on the cantilevers. Gripping state has been identified by using the tactile sensor which is installed on finger of a robot hand, and friction of objects has been measured by slipping the sensor.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1808-1813
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• 2005

In this paper, we present the finger tip tactile sensor which can detect contact normal force as well as slip. The developed sensor is made of two different materials, such as polyvinylidene fluoride(PVDF) that is known as piezoelectric polymer and pressure variable resistor ink. In order to detect slip to surface of object, a PVDF strip is arranged along the normal direction in the robot finger tip and the thumb tip. The surface electrode of the PVDF strip is fabricated using silk-screening technique with silver paste. Also a thin flexible force sensor is fabricated in the form of a matrix using pressure variable resistor ink in order to sense the static force. The developed tactile sensor is physically flexible and it can be deformed three-dimensionally to any shape so that it can be placed on anywhere on the curved surface. In addition, we developed a tactile sensing system by miniaturizing the charge amplifier, in order to amplify the small signal from the sensor, and the fast signal processing unit. The sensor system is evaluated experimentally and its effectiveness is validated.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.13 no.2
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• pp.8-14
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• 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.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.390-390
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• 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.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.1
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• pp.212-218
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• 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.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.19 no.10
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• pp.111-116
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• 2020

Flexible tactile sensors, which are primarily used as grippers in robots, are mainly used to handle highly elastic or highly flexible objects. That is, flexible grippers are used when an object cannot be sufficiently controlled by applying a specific output force or taking a specific grabbing action. This is because a flexible tactile sensor needs to measure the pressure applied directly to held objects while deforming according to the shape of the object to be handled. CNT-based sensors used to be made from a highly flexible polymer to give flexibility and it is known that the sensors are greatly affected by the contact resistance of the terminal that connects the sensor to an electrical circuit; therefore, this paper clarifies the contact resistance of MWCNTs-based flexible tactile sensors and terminals. The effects of main and plating materials for terminals are investigated and the combinations of main and plating materials that exhibit contact resistance are measured in a typical industrial environment.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.8
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• pp.743-748
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• 2015

This paper reports the enhanced fabrication and characterization of a $3{\times}3$ array tactile actuator composed of cellulose acetate. The array tactile actuator, with dimensions of $15{\times}15{\times}1mm^3$, consists of 9 pillar-supported cells made from a cellulose-acetate molding. The fabrication process and performance test along with the results for the suggested actuator are explained. To improve the cell-array fabrication, a laser cut was adopted after the molding process. The displacement of the unit cell increased the input voltage and frequency. Various top masses are added onto the actuator to mimic the touch force, and the acceleration of the actuator is measured under actuation. When 2 kV is applied to the actuator, the maximum acceleration is 0.64 g, which is above the vibrotactile threshold. The actuation mechanism is associated with the electrostatic force between the top and bottom electrodes.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.19 no.4
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• pp.65-70
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• 2020

While the demand for robots in the manufacturing industry has dramatically increased, the industrial robots' functionality is mainly determined by the effector attached to the end of their arms. They need a flexible gripping system that can act as a human hand and easily grasp a variety of objects, which requires resilient sensors. This study clarifies the electrical output characteristics of elastic tactile sensors according to contact terminals because the output characteristics of the tactile sensors vary greatly, depending on the contact material and the method of contact with the conductive wire. Our research considers the Three Roll Mill and Paste Mixer as the dispersion medium, and a nickel- and gold-plated brass electrode as the contact terminal.

• Fashion & Textile Research Journal
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• v.18 no.6
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• pp.878-888
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• 2016

In this study, wool/nylon(50/50%) blend yarn and its fabrics for tra-biz(complex word of travel+business) garment were prepared, and its wear comfort characteristics were investigated through thermal manikin and human-body wearing experiment. In addition, tactile wearing performance from fabric mechanical properties and the dimensional stability and the pilling of the fabric specimen during wearing and dry-cleaning were measured and compared with those of wool 100% fabric specimen. Heat keepability of the wool/nylon(50/50%) blend fabric by thermal manikin experiment was superior than that of wool 100% fabric, this result was verified with human-body wearing experiment and its result coincided well with this experimental result. Tactile wearing performance of the wool/nylon(50/50%) fabric from fabric mechanical properties measured by FAST system was better than that of the wool 100% fabric. The dimensional stability of the wool/nylon(50/50%) fabric was more stable than that of the wool 100% fabric. Because relaxation shrinkage was lower and hygral expansion of wool 100% fabric was more high. However, the breathability and pilling property of the wool/nylon(50/50%) fabric were inferior than those of the wool 100% fabric. The possibility of application for tra-biz garment of wool/nylon(50/50%) blend fabric was observed because of good heat keepability, tactile wearing performance and washing fastness.

• The Research Journal of the Costume Culture
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• v.19 no.3
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• pp.556-564
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• 2011

The purpose of this study was to analyze the effect of the structural properties, the color characteristics and the texture of sight and touch on the tactile preferences for the black fabrics. Male and female university students were asked to evaluate the texture of sight and touch and tactile preference to the nine different black fabrics which were selected on the basis of the previous research results. Data were analyzed by using frequency analysis, mean, factor analysis, t-test, F-test, correlation and regression analysis. The texture of sight and touch for black fabrics was classified into four factors: smoothness, bulkiness, extensibility, firmness. This texture of sight and touch factors showed a significant correlative relationship to the structural properties and color characteristics of the black fabrics. There were significant differences according to black fabrics on the point of texture of sight and touch. The velvet was evaluated the most smooth fabric, while the velvet and fake leather were evaluated the most bulky fabrics. Also, the jersey and lace fabrics were evaluated the most extensible fabrics, while the melton was evaluated as the most firm fabrics. There were significant correlative relationships not only between the structural properties and the texture of sight and touch but also between the color characteristics and the texture for black fabrics. Also, among the structural properties, the color characteristics and the texture of sight and touch of black fabrics, major variable factor of influencing on the tactile preference was turned out to be the texture of sight and touch.