NDLI: Development and characterization of touch sensing devices for robotic applications

Content Provider	IEEE Xplore Digital Library
Author	Dahiya, R.S. Valle, M. Oboe, R. Cattin, D.
Copyright Year	2009
Description	Author affiliation: Italian Institute of Technology, Genova, Italy (Dahiya, R.S.) \|\| DIBE-University of Genoa, Genova, Italy (Valle, M.) \|\| University of Padova, Vicenza, Italy (Oboe, R.; Cattin, D.)
Abstract	This paper presents the development of touch sensing chips for robotic applications and the experimental results from touch sensing elements on the chip. The high resolution tactile sensing chips have overall dimension of 1.5 cm×1.5 cm and consist of 25 touch sensing elements. The touch sensing elements on the chip are the POSFET (Piezoelectric Oxide Semiconductor Field Effect Transistor) devices, obtained by depositing piezoelectric polymer directly on to the gate area of MOS transistor. Each sensing element has an effective sensing area of 0.5 mm×0.5 mm. The tactile sensing chips are suitable for fingertips of a robot where large numbers of sensors are needed in a small space (typically 1 cm×1.5 cm). The tactile sensing elements on the chip have been experimentally evaluated in time and frequency domain. Typically, protective rubber films of materials like PDMS Polydimethylsiloxane) are used to improve robustness of the sensors, albeit, at the cost of reduced sensitivity. Such effects on the response of POSFET touch sensing elements are studied with PDMS films having different thicknesses.
Starting Page	4245
Ending Page	4250
File Size	949740
Page Count	6
File Format	PDF
ISBN	9781424446483
ISSN	1553572X
e-ISBN	9781424446506
DOI	10.1109/IECON.2009.5415057
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-11-03
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Piezoelectric devices FETs Polymers MOSFETs Orbital robotics Tactile sensors Frequency domain analysis Protection Rubber
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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