Robotic Tactile Sensors Fabricated from a Monolithic Silicon Integrated Circuit and a Piezoelectric Polyvinylidene Fluoride Thin Film

Author

Craig S. Dyson

Date of Award

12-1991

Document Type

Thesis

Degree Name

Master of Science

Department

Department of Electrical and Computer Engineering

First Advisor

Edward S. Kolesar, Jr., PhD

Abstract

The purpose of this research effort was to design, fabricate, and test a tactile sensor system consisting of an external high impedance switch circuit, an external multiplexing circuit, and a tactile sensor IC. In order to accomplish this objective, a hardware design and selection process was implemented along with a logical test methodology. An external multiplexer circuit samples all of the array elements in 50 ms. The current prototype sensor has linearity spanning loads of 0.8 g to 135 g, a load resolution of 20 g, and a maximum bandwidth of 25 Hz. Using an elementary shape recognition algorithm the sensor can recognize the shape of a contact load with a spatial resolution on the order of 700 micron. A comparison of three different adhesives used to bond the piezoelectric PVDF film to the surface of the electrode array was made and a urethane adhesive was selected for its superior electrical and physical properties.

AFIT Designator

AFIT-GE-ENG-91D-16

DTIC Accession Number

ADA243886

Comments

The author's Vita page is omitted.

Recommended Citation

Dyson, Craig S., "Robotic Tactile Sensors Fabricated from a Monolithic Silicon Integrated Circuit and a Piezoelectric Polyvinylidene Fluoride Thin Film" (1991). Theses and Dissertations. 7550.
https://scholar.afit.edu/etd/7550