Flexible Capacitive Tactile Sensor Array With Truncated Pyramids as Dielectric Layer for Three-Axis Force Measurement


This paper presents a flexible capacitive tactile sensor array embedded with a truncated polydimethylsiloxane pyramid array as a dielectric layer. The proposed sensor array has been fabricated with four × 4 sensor units. The measurement ranges of forces in the x-axis, y-axis, and z-axis are 0-0.5, zero-zero.5, and 0-four N, respectively. In the range of zero-0.5 N, the sensitivities of the sensor unit are fifty eight.3percent/N, fifty seven.four%/N, and 67.2p.c/N in the x-axis, y-axis, and z-axis, respectively. Within the vary of zero.5-four N, the sensitivity within the z-axis is 7.sevenp.c/N. Three-axis force measurement has been conducted for all the sensor units. The typical errors between the applied and calculated forces are eleven.8p.c ± 6.4%. The sensor array has been mounted on a prosthetic hand. A paper cup and a cube are grasped by the prosthetic hand and therefore the three-axis contact force is measured in real time by the sensor array. Results show that the sensor will capture the 3-axis contact force image each in lightweight and tight grasping. The proposed capacitive tactile sensor array will be utilised in robotics and prosthetic hand applications.

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