Distributed flexible tactile sensor system

This paper represents the development of a distributed flexible tactile sensor using PVDF (polyvinylidene fluoride) film. The tactile sensor which has 8 × 8 tactile elements is fabricated using PVDF film and flexible circuitry. Experimental results on static and dynamic characteristics are obtained. In order to investigate the characteristics of the tactile sensor, the output of the tactile sensor is measured by applying arbitrary forces and frequencies those are excited to the shaker. In the static characteristics the threshold and the linearity of the sensor are investigated. Also the dynamic response of the sensor subjected to the variable frequencies is examined. The signals of a contact pressure to the tactile sensor are sensed and processed in the DSP system in which the signals are digitalized and filtered. Finally, the signals are integrated for taking the force profile. The processed signals of the outputs of the sensor are visualized in personal computer, the shape and force distribution of the contact object are obtained using two and three-dimensional image in real time. The reasonable performance for the detection of contract state is verified through the experiment.