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This paper presents a methodology for slip detection in prosthetic hand grasping by using the discrete wavelet transform (DWT) analysis. To measure the distributed three-axis contact force between the finger and objects, a wearable tactile sensor array with a spatial resolution of 5 mm is designed and fabricated. This sensor array features high flexibility and can be easily worn in a prosthetic hand,...
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 $4\times 4$ sensor units. The measurement ranges of forces in the $x$ -axis, $y$ -axis, and $z$ -axis are 0–0.5, 0–0.5, and 0–4 N, respectively. In the range of 0–0.5 N, the sensitivities of the sensor...
In real applications, the capacitive tactile sensor array usually needs to be mounted on curved surfaces. To study the effect of curved surfaces on the sensing performance of the sensor array, we have fabricated the sensor array with 4 × 4 sensor units. Four types of rigid and flexible curved surfaces are selected to mount the sensor array, with radius of curvature of +∞, 40 mm, 30 mm, and 20 mm....
This paper presents a novel flexible tactile sensor array with the capabilities to measure three-dimensional (3D) forces and slip occurrence by using the INASTAMOR pressure conductive rubber as the sensing material. The tactile sensor array has 3 × 3(= 9) sensing units, and each unit has a three-layered structure: bottom electrode, middle conductive rubber chips, and top PDMS bump. The structural...
This paper develops a novel flexible capacitive tactile sensor array for prosthetic hand gripping force measurement. The sensor array has 8 × 8 (= 64) sensing units, each sensing unit has a four-layered structure: two thick PET layers with embedded copper electrodes generates a capacitor, a PDMS film with line-structure used as an insulation layer, and a top PDMS bump layer to concentrate external...
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