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The study of sensor structure to perceive a surface texture for psychological tactile sensor

Title
The study of sensor structure to perceive a surface texture for psychological tactile sensor
Translated Title
표면 형태 감지를 위한 정신감각적 촉각 센서 구조 연구
Authors
Shin, Kwon Sik
DGIST Authors
Shin, Kwon Sik; Jang, Jae Eun; Yu, Seong Woon
Advisor(s)
Jang, Jae Eun
Co-Advisor(s)
Yu, Seong Woon
Issue Date
2017
Available Date
2017-01-18
Degree Date
2017. 2
Type
Thesis
Keywords
PiezoelectricArray structurePsychologicalPVDF-TrFESurface textureTactile sensor피에조센서어레이 구조정신감각적표면형태
Abstract
Tactile sensors mimicking the sense of touch of the human have been studied gradually and various technologies sensing an external stimulus have been suggested as well. The human detects some external physical stimuli and generates psychological feeling such as roughness, softness or pain through the touch. Since people have different criteria for the psychological feelings, there are a lot of issues as to which components are most informative for perceiving the parameters. To give these psychological feelings to artificial system as like android robot or smart phone, sensing a surface texture is one of the most informative perception among various physical parameters. Sensing a surface texture also has many issues since many kinds of factors such as vibration, strain and friction should be considered to detect the surface texture. Robotic fingers applied a contact point analysis, feedback loop and flow chart are used for a surface texture detection in robot field. However, those methods should need complex algorithm and programming to analyze data concerning a surface texture from the robotic fingers. In this paper, a piezoelectric type array sensor structure was demonstrated with sliding mechanism to restore a surface texture precisely as like human. The suggested array sensor design with excellent dynamic response of piezoelectric material gave a higher spatial resolution detection than the resolution of sensor system and detected sliding velocity, essential parameter to restore surface texture from electrical signal, as well. The sensor could calculate various sliding velocities from 10mm/s to 70mm/s accurately by simple electrical signal analysis produced from sensor arrays. A soft material was applied for the sensor to enhance surface detection ability and it allowed that the array sensor could distinguish between a spike type and a doom type shape. Signal processing was optimized and simplified for a surface texture restoration. Restored surface textures had high accuracy compared with real texture structures and color mapping skill was applied for the restored textures images to express the pattern of texture. The capabilities of velocity detecting and texture restoration allow the sensor can be utilized to electromechanical systems as the physical and the psychological tactile sensor. ⓒ 2017 DGIST
Table Of Contents
Ⅰ. INTRODUCTION 1-- 1.1 Overview 1-- 1.2 Motivation 3-- 1.3 Thesis Overview 4-- Ⅱ. BACKGROUNDS 5-- 2.1 Human Tactile System 5-- 2.1.1 Tactile Receptors 5-- 2.1.2 Nervous System of Touch 7-- 2.2 Surface Textures 8-- 2.3 Previous Works for Sensing Surface Textures 9-- 2.3.1 Friction 9-- 2.3.2 Roughness 10-- 2.3.3 Vibration 11-- 2.3.4 Optical Sensor 11-- 2.3.5 Piezophotonic Sensor 12-- Ⅲ. EXPERIMENT DETAILS 13-- 3.1 Piezo Sensor Array 13-- 3.1.1 Principal of Piezoelectricity 14-- 3.1.2 Piezoelectric Materials 17-- 3.1.3 Array Structure 19-- 3.1.4 Soft Materials 19-- 3.2 Fabrication and Structure of Piezo Sensor Array 20-- 3.3 Design of Textures 24-- 3.4 Experimental Setup 25-- IV. RESULTS AND DISCUSSION 27-- 4.1 Characteristics of Piezo Sensor Array 27-- 4.1.1 Touch Experiment 27-- 4.1.2 Sliding Experiment 28-- 4.2 Characteristics of Sliding Signals 32-- 4.2.1 Signal Difference depending on Texture Shapes 32-- 4.2.2 Signal Difference depending on Weights 34-- 4.2.3 Signal Difference depending on Velocity 34-- 4.3 Sliding Velocity & Texture’s Pitch Calculation 35-- 4.4 Texture Restoration 38-- 4.5 Resolution of the Piezo Sensor Array 40-- 4.6 Characteristics of Piezo Sensor Array applied Soft Material 41-- 4.6.1 Sliding Signal Changes 42-- 4.6.2 Texture Restoration 43-- V. CONCLUSION 45--
URI
http://dgist.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002322460
http://hdl.handle.net/20.500.11750/1503
DOI
10.22677/thesis.2322460
Degree
Master
Department
Information and Communication Engineering
University
DGIST
Files:
Collection:
Information and Communication EngineeringThesesMaster


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