A simplified and novel theoretical model for coplanar interdigital electroadhesives has been presented in this paper. The model has been verified based on a mechatronic and reconfigurable testing platform, and a repeatable testing procedure. The theoretical results have shown that, for interdigital electroadhesive pads to achieve the maximum electroadhesive forces on non-conductive substrates, there is an optimum electrode width/space between electrodes (width/space) ratio, approximately 1.8. On conductive substrates, however, the width/space ratio should be as large as possible. The 2D electrostatic simulation results have shown that, the optimum ratio is significantly affected by the existence of the air gap and substrate thickness variation. A novel analysis of the force between the electroadhesive pad and the substrate has highlighted the inappropriateness to derive the normal forces by the division of the measured shear forces and the friction coefficients. In addition, the electroadhesive forces obtained in a 5 d period in an ambient environment have highlighted the importance of controlling the environment when testing the pads to validate the models. Based on the confident experimental platform and procedure, the results obtained have validated the theoretical results. The results are useful insights for the investigation into environmentally stable and optimized electroadhesives.

https://iopscience.iop.org/article/10.1088/0022-3727/49/41/415304/pdf

Optimization and experimental verification of coplanar interdigital electroadhesives

In this paper, a new model for electroadhesion between two surface-insulated plates under DC electric field is presented and control of dynamic responses of electroadhesion force is discussed. Under DC electric field, even if the voltage difference between the plates is constant, electroadhesion force increases or decreases over time depending on the insulating materials. The increase had been explained by Johnsen–Rahbek (JR) model, but the decrease had not been focused or modeled by physically meaningful way. In addition, the previous models did not explicitly consider the mechanical behaviors of the electrodes, although the mechanical behaviors considerably affect the response. In this work, we introduced a new model that combines both electrical and mechanical behaviors. The electrical part, which is based on JR model, explained the force decrease under DC field, in addition to the force increase that had been explained using JR model. The mechanical part was represented by a combination of a spring and a damper. Numerical simulations using the model successfully reproduced characteristics behaviors of electroadhesion force, which include force decay under constant voltages and relatively smaller initial force. Using the inverse model, we carried out experiments to control dynamic responses of electroadhesion force, which successfully controlled force responses against pulse voltages. Through the experiments, we also showed the importance of the neutralization of surface charges for obtaining reproducible responses.

/pdf/modeling-and-control-of-electroadhesion-force-in-dc-voltage-jw701vwl3a.pdf

Modeling and control of electroadhesion force in DC voltage

Thermal convection based micro-electromechanical accelerometer is a relatively new kind of acceleration sensor that does not require a solid proof mass, yielding unique benefits like high shock survival rating, low production cost, and integrability with CMOS integrated circuit technology. This article provides a comprehensive survey of the research, development, and current trends in the field of thermal acceleration sensors, with detailed enumeration on the theory, operation, modeling, and numerical simulation of such devices. Different reported varieties and structures of thermal accelerometers have been reviewed highlighting key design, implementation, and performance aspects. Materials and technologies used for fabrication of such sensors have also been discussed. Further, the advantages and challenges for thermal accelerometers vis-a-vis other prominent accelerometer types have been presented, followed by an overview of associated signal conditioning circuitry and potential applications.

A Review of Micromachined Thermal Accelerometers

An unusual and rather large transient lateral photovoltage (LPV) has been observed in La0.9Sr0.1MnO3∕SrNb0.01Ti0.99O3 and La0.7Sr0.3MnO3∕Si heterojunctions under the nonuniform irradiation of pulsed laser. The irreversible LPVs on both sides of a p-n junction challenge the well established model for LPV in conventional semiconductor p-n junctions, which can be well explained by the Dember effect. Much larger LPV is observed in La0.7Sr0.3MnO3∕Si than that in La0.9Sr0.1MnO3∕SrNb0.01Ti0.99O3. Similar results measured from both substrates of SrNb0.01Ti0.99O3 and Si also support such a Dember effect. Much larger LPVs in heterojunctions than those in simple samples (SrNb0.01Ti0.99O3 or Si) suggest a potential application of Dember effect in heterostructures.

Dember effect induced photovoltage in perovskite p-n heterojunctions

Haptic interaction plays an important role in the virtual reality technology, which let a person not only view the 3D virtual environment but also realistically touch the virtual environment. As a key part of haptic interaction, force feedback has become an essential function for the haptic interaction. Therefore, multi-dimensional force sensors are widely used in the fields of virtual reality and augmented reality. In this paper, some conventional multi-dimensional force sensors based on different measurement principles, such as resistive, capacitive, piezoelectric, are briefly introduced. Then the mechanical structures of the elastic body of multi-dimensional force sensors are reviewed. It is obvious that the performance of the multi-dimensional force sensor is mainly dependent upon the mechanical structure of elastic body. Furthermore, the calibration process of the force sensor is analyzed, and problems in calibration are discussed. Interdimensional coupling error is one of the main factors affecting the measurement precision of the multi-dimensional force sensors. Therefore, reducing or even eliminating dimensional coupling error becomes a fundamental requirement in the design of multi-dimensional force sensors, and the decoupling state-of-art of the multi-dimensional force sensors are introduced in this paper. At last, the trends and current challenges of multi-dimensional force sensing technology are proposed.

Multi-dimensional force sensor for haptic interaction: a review

In this paper, a compact, low jitter, nanosecond rise time, command triggered, high peak power, gas-switch pulse generator system is developed for high energy physics experiment. The main components of the system are a high voltage capacitor, the spark gap switch and R = 50 Ω load resistance built into a structure to obtain a fast high power pulse. The pulse drive unit, comprised of a vacuum planar triode and a stack of avalanche transistors, is command triggered by a single or multiple TTL (transistor-transistor logic) level pulses generated by a trigger pulse control unit implemented using the 555 timer circuit. The control unit also accepts user input TTL trigger signal. The vacuum planar triode in the pulse driving unit that close the first stage switches is applied to drive the spark gap reducing jitter. By adjusting the charge voltage of a high voltage capacitor charging power supply, the pulse amplitude varies from 5 kV to 10 kV, with a rise time of <3 ns and the maximum peak current up to 200 A (into 50 Ω). The jitter of the pulse generator system is less than 1 ns. The maximum pulse repetition rate is set at 10 Hz that limited only by the gas-switch and available capacitor recovery time.

A compact, low jitter, nanosecond rise time, high voltage pulse generator with variable amplitude

This paper describes the design and the calibration of a novel parallel piezoelectric six-axis force/torque sensor. A new
force-sensing cell distribution model has been investigated: eight piezoelectric quartz crystal cells are uniformly
distributed along one circle line to get the spatial force information. The mathematic model of the method has been
deeply researched, established and calculated. In this paper, the negative step response method is calibrated to evaluate
the dynamic response of the sensor: the calibration force acting on the sensor is suddenly removed by breaking a brittle
material. Based on the experimental data of the calibration, the natural frequency, dynamic range as well as coupling
interference of the sensor are analyzed and discussed. The new force-sensing cell distribution model may overcome
some disadvantages of present six-axis force sensor, such as improving the overall stiffness of the sensing system, and
meanwhile, reducing the coupled interference.

Design and calibration of a novel piezoelectric six-axis force/torque sensor

Recently, electrostatic adhesion force (EAF) has gained considerable interest for handling dielectric materials. EAF arises from the non-uniform electrical field generated between electrostatic adhesive with special electrode patterns and materials after alternative polarity potentials are applied to the electrodes. In this paper, a theoretical analytical model was derived from electrostatic adhesion fields of concentric-ring electrode (CRE) structures in cylindrical coordinates on multilayer dielectrics. Because polarization on different mediums is complex, the field was divided into four layers to receive corresponding boundaries. With respect to the reproducibility of the CRE structure along the radial direction, the field was further divided into rectangular section shapes according to the Neumann boundary conditions. The surface roughness of the dielectric material, amplitude of the applied voltages, and properties of the different dielectric layers were also accounted for in the modeling, because th...

Modeling and Simulation of Electrostatic Adhesion Force in Concentric-Ring Electrode Structures of Multilayer Dielectrics

The invention provides a displacement measuring device based on a position-sensitive detector and an application method of the displacement measuring device. The position-sensitive detector adopted in the invention is a two-dimensional PSD (phase-sensitive detector); a signal processing module in the existing displacement measurement device based on the position-sensitive detector is improved in a focused manner, and adaptability improvement is performed for a signal pre-processing module, so as to ensure that a phase method can be applied in the method for processing digital signals. The application method comprises steps of: performing multiple beam modulation, signal pre-process and transformation, subsequent digital process and transformation and the like for applying the phase method; and calculating the phase information corresponding to various frequency signals by utilizing an FFT (fast Fourier transformation) algorithm, further processing the various phase information to obtain the displacement information of a plurality of light spots on a PSD photosensitive surface, thereby realizing the precise measurement for the light spot positions of a plurality of beams. The device and the method provided by the invention have the characteristics of high precision, good flexibility, stable system, simple signal processing circuit, low cost and the like.

Displacement measuring device based on position-sensitive detector and application method of displacement measuring device

According to the principle of centroid measurement, position-sensitive detectors (PSD) are commonly used for micro displacement detection. However, single-beam detection method cannot satisfy such tasks as multi-dimension position measurement, three dimension vision reconstruction, and robot precision positioning, which require synchronous measurement of multiple light beams. Consequently, we designed PSD phase detection method using frequency-domain multiplexing for synchronous detection of multiple modulated light beams. Compared to previous PSD amplitude detection method, the phase detection method using FDM has advantages of simplified measuring system, low cost, high capability of resistance to light interference as well as improved resolution. The feasibility of multi-beam synchronous measurement based on PSD phase detection using FDM was validated by multi-beam measuring experiments. The maximum non-linearity error of the multi-beam synchronous measurement is 6.62%.

Multi-beam synchronous measurement based on PSD phase detection using frequency-domain multiplexing

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