Design and Characterization of a Nanocomposite Pressure Sensor Implemented in a Tactile Robotic System

A. Massaro, F. Spano, A. Lay-Ekuakille, P. Cazzato, R. Cingolani, A. Athanassiou
2011 IEEE Transactions on Instrumentation and Measurement  
In this paper, we present the implementation of a new class of optical pressure sensors in a robotic tactile-sensing system based on polydimethylsiloxane (PDMS). The sensor consists of a tapered optical fiber, where an optical signal goes across, embedded into a PDMS-gold nanocomposite material (GNM). By applying different pressure forces onto the PDMS-based nanocomposite, changes in the optical transmittivity of the fiber can be detected in real time due to the coupling between the GNM and the
more » ... tapered fiber region. The intensity reduction of a transmitted light is correlated to the pressure force magnitude. Light intensity is converted into an electric signal by a system suitable for robotic implementation. High sensitivity using forces by applying weights of a few grams is proved. Sensitivity on the order of 5 g is checked. A detailed algorithm for the detection of roughness and shapes by means of a robotic finger is proposed.
doi:10.1109/tim.2011.2121290 fatcat:h3g4pbfxofcqden2hvqe4q27iy