A number of common issues related to the process of flexible tactile sensor calibration are discussed in this paper, and an estimate of the accuracy of classical calibration methods, as represented by a weight-pulley device, is presented. A flexible tactile sensor calibration method that is based on a six-dimensional force measurement is proposed on the basis of a theoretical analysis. A high-accuracy flexible tactile sensor calibration bench based on the air-bearing six-dimensional force measurement principle was developed to achieve a technically challenging measurement accuracy of 2% full scale (FS) for three-dimensional (3D) flexible tactile sensor calibration. The experimental results demonstrate that the accuracy of the air-bearing six-dimensional force measurement platform can reach 0.2% FS. Thus, the system satisfies the 3D flexible tactile sensor calibration requirement of 2% FS.

A flexible tactile sensor calibration method based on an air-bearing six-dimensional force measurement platform

Flexible tactile sensors are essential media for robots to perceive external environments, which give robots human-like senses and enable them to access physical information. However, the force applied on tactile sensor is easy to be distributed unevenly and in motion applications such as human–robot interaction, the tactile sensor will be interfered by inertial force, which both affects the measurement accuracy. Here, we have designed and prepared a flexible four-capacitor tactile sensor with a bump-force conducting structure. By adding a bump-force conducting structure that allows the force acting on the tactile sensor to be evenly distributed to reduce the detection error, furthermore, to address the inertial disturbance, it has been quantified and analyzed and a compensation method by measuring the acceleration signal as a reference has also been proposed. In the simulation and experiment, the inertial disturbance of the tactile sensor was simulated by applying accelerations of different frequencies and amplitudes, and the evaluation results showed a good agreement with the experimental results, which suggests that an alternated acceleration with an effective value of 1.07 m/ $\text{s}^{{2}}$ results in a capacitive change of the tactile sensor with an effective value of approximately 0.33 fF (this corresponds to an effective force of approximately 0.1 mN applied to the sensor). The results show that the inertial disturbance can be reduced by up to 74.11% after signal compensation. This article presents the fabrication of a four-capacitor sensor based on the bump and provides a signal compensation method to reduce inertial interference in a moving environment.

A four-capacitor tactile sensor based on bump structure and compensating method to reduce inertial interference for robotic tactile sensing

The rapid development of robotics technology and human–machine interaction has created a growing demand for accurate and reliable 3-D force measurement. Flexible force sensors, known for their high sensitivity, bendability, and customizability, offer an effective solution for achieving accurate 3-D force measurements. This article aims to comprehensively assess the research progress of flexible force sensors in the field of 3-D force detection and explores their potential applications in various areas. First, the working principles and structural characteristics of flexible 3-D force sensors are introduced. Then, the materials utilized by these sensors are discussed. After that, the decoupling methods of 3-D force sensors are summarized. Finally, the review summarizes the current applications of flexible 3-D force sensors in robotics, adjuvant therapy, human monitoring field, and controllers. By comprehensively analyzing the existing literature and research results, this article offers important guidance for further advancing the application of flexible force sensors in the field of 3-D force detection. With the continuous development of technology, flexible 3-D force sensors are expected to increasingly play a significant role in the critical task of achieving accurate 3-D force detection.

Research Progress on Flexible Three-dimensional Force Sensors: A Review

In this study, chitin fibers (CFs) were combined with molybdenum sulfide (MoS2) to develop high-performance sensors, and chitin carbon materials were innovatively introduced into the application of gas sensing. MoS2/CFs composites were synthesized via a one-step hydrothermal method. The surface properties of the composites were greatly improved, and the fire resistance effect was remarkable compared with that of the chitin monomer. In the gas-sensitive performance test, the overall performance of the MoS2/CFs composite was more than three times better than that of the MoS2 monomer and showed excellent long-term stability, with less than 10% performance degradation in three months. Extending to the field of strain sensing, MoS2/CFs composites can realize real-time signal conversion in tensile and motion performance tests, which can help inspectors make analytical judgments in response to the analysis results. The extensive application of sensing materials in more fields is expected to be further developed. Based on the recycling of waste chitin textile materials, this paper expands the potential applications of chitin materials in the fields of gas monitoring, biomedicine, behavioral discrimination and intelligent monitoring.

/pdf/synthesis-and-sensing-performance-of-chitin-fiber-mos2-3j7xmzt8.pdf

Synthesis and Sensing Performance of Chitin Fiber/MoS2 Composites

To help improve the comfort of an amputee, it is important to develop artificial skin to understand the load distribution between the residual limb and the prosthetic socket for a prosthetic socket system. This paper presents an interfacial stress sensor which is capable of simultaneously measuring normal compressive stress and horizontal shear stress and is expected to create an artificial skin to understand such load distribution. A mathematical model based on regression analysis is built and an experiment is conducted to obtain the transfer function of the sensor. A significance test shows that the transfer function has a statistical significance at a significance level of 0.05 and the regression model fits the experimental data with a sample determination coefficient . The relative error is also analyzed in the end. The results show that the sensor is capable of measuring a range 0-320 kPa normal compressive stress with a relative error of 5% and a range of 0-70 kPa horizontal shear stress with a relative error of 14%.

Transfer Function of Interfacial Stress Sensor for Artificial Skin Applications

A method of measure the information of three-dimensional force tactile sensing based on flexible pressure sensitive conductive rubber has been presented. The conductive mechanism and piezoresistivity of flexible pressure sensitive conductive rubber ware analyzed. A new type three dimensional force net array structure of flexible tactile sensor of robot sensitive skin has been designed. The mechanics model of the three-dimensional force has been found. Through experimental study the three-dimensional force based on the tactile sensor units, the change output resistances of pressure sensitive conductive rubber of sensor array unit have been obtained under action of three dimensional forces. All which provided the effective basis for the confirmation experiment result and the new structural design. The results show that pressure-sensitive conductive rubber with fine electrical and mechanical properties for flexible tactile sensors. The robot sensitive skin using this material feels like the skin of human being and measure the information of multidimensional force.

Three-dimensional force flexible tactile sensor Based on robot sensitive skin

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Three-dimensional force flexible tactile sensor Based on robot sensitive skin