Synthetic and bio-artificial tactile sensing: a review

This paper reviews the state of the art of artificial tactile sensing, with a particular focus on bio-hybrid and fully-biological approaches. To this aim, the study of physiology of the human sense of touch and of the coding mechanisms of tactile information is a significant starting point, which is briefly explored in this review. Then, the progress towards the development of an artificial sense of touch are investigated. Artificial tactile sensing is analysed with respect to the possible approaches to fabricate the outer interface layer: synthetic skin versus bio-artificial skin. With particular respect to the synthetic skin approach, a brief overview is provided on various technologies and transduction principles that can be integrated beneath the skin layer. Then, the main focus moves to approaches characterized by the use of bio-artificial skin as an outer layer of the artificial sensory system. Within this design solution for the skin, bio-hybrid and fully-biological tactile sensing systems are thoroughly presented: while significant results have been reported for the development of tissue engineered skins, the development of mechanotransduction units and their integration is a recent trend that is still lagging behind, therefore requiring research efforts and investments. In the last part of the paper, application domains and perspectives of the reviewed tactile sensing technologies are discussed

Microfabricated tactile sensors for biomedical applications: a review

During the last decades, tactile sensors based on different sensing principles have been developed due to the growing interest in robotics and, mainly, in medical applications. Several technological solutions have been employed to design tactile sensors; in particular, solutions based on microfabrication present several attractive features. Microfabrication technologies allow for developing miniaturized sensors with good performance in terms of metrological properties (e.g., accuracy, sensitivity, low power consumption, and frequency response). Small size and good metrological properties heighten the potential role of tactile sensors in medicine, making them especially attractive to be integrated in smart interfaces and microsurgical tools. This paper provides an overview of microfabricated tactile sensors, focusing on the mean principles of sensing, i.e., piezoresistive, piezoelectric and capacitive sensors. These sensors are employed for measuring contact properties, in particular force and pressure, in three main medical fields, i.e., prosthetics and artificial skin, minimal access surgery and smart interfaces for biomechanical analysis. The working principles and the metrological properties of the most promising tactile, microfabricated sensors are analyzed, together with their application in medicine. Finally, the new emerging technologies in these fields are briefly described

Novel active sweat pores based liveness detection techniques for fingerprint biometrics

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University.Liveness detection in automatic fingerprint identification systems (AFIS) is an issue which still prevents its use in many unsupervised security applications. In the last decade, various hardware and software solutions for the detection of liveness from fingerprints have been proposed by academic research groups. However, the proposed methods have not yet been practically implemented with existing AFIS. A large amount of research is needed before commercial AFIS can be implemented. In this research, novel active pore based liveness detection methods were proposed for AFIS. These novel methods are based on the detection of active pores on fingertip ridges, and the measurement of ionic activity in the sweat fluid that appears at the openings of active pores. The literature is critically reviewed in terms of liveness detection issues. Existing fingerprint technology, and hardware and software solutions proposed for liveness detection are also examined. A comparative study has been completed on the commercially and specifically collected fingerprint databases, and it was concluded that images in these datasets do not contained any visible evidence of liveness. They were used to test various algorithms developed for liveness detection; however, to implement proper liveness detection in fingerprint systems a new database with fine details of fingertips is needed. Therefore a new high resolution Brunel Fingerprint Biometric Database (B-FBDB) was captured and collected for this novel liveness detection research. The first proposed novel liveness detection method is a High Pass Correlation Filtering Algorithm (HCFA). This image processing algorithm has been developed in Matlab and tested on B-FBDB dataset images. The results of the HCFA algorithm have proved the idea behind the research, as they successfully demonstrated the clear possibility of liveness detection by active pore detection from high resolution images. The second novel liveness detection method is based on the experimental evidence. This method explains liveness detection by measuring the ionic activities above the sample of ionic sweat fluid. A Micro Needle Electrode (MNE) based setup was used in this experiment to measure the ionic activities. In results, 5.9 pC to 6.5 pC charges were detected with ten NME positions (50μm to 360 μm) above the surface of ionic sweat fluid. These measurements are also a proof of liveness from active fingertip pores, and this technique can be used in the future to implement liveness detection solutions. The interaction of NME and ionic fluid was modelled in COMSOL multiphysics, and the effect of electric field variations on NME was recorded at 5μm -360μm positions above the ionic fluid.This study is funded by the University of Sindh, Jamshoro, Pakistan and the Higher Education Commission of Pakistan

A reconfigurable tactile display based on polymer MEMS technology

This research focuses on the development of polymer microfabrication technologies for the realization of two major components of a pneumatic tactile display: a microactuator array and a complementary microvalve (control) array. The concept, fabrication, and characterization of a kinematically-stabilized polymeric microbubble actuator (¡°endoskeletal microbubble actuator¡±) were presented. A systematic design and modeling procedure was carried out to generate an optimized geometry of the corrugated diaphragm to satisfy membrane deflection, force, and stability requirements set forth by the tactile display goals. A refreshable Braille cell as a tactile display prototype has been developed based on a 2x3 endoskeletal microbubble array and an array of commercial valves. The prototype can provide both a static display (which meets the displacement and force requirement of a Braille display) and vibratory tactile sensations. Along with the above capabilities, the device was designed to meet the criteria of lightness and compactness to permit portable operation. The design is scalable with respect to the number of tactile actuators while still being simple to fabricate. In order to further reduce the size and cost of the tactile display, a microvalve array can be integrated into the tactile display system to control the pneumatic fluid that actuates the microbubble actuator. A piezoelectrically-driven and hydraulically-amplified polymer microvalve has been designed, fabricated, and tested. An incompressible elastomer was used as a solid hydraulic medium to convert the small axial displacement of a piezoelectric actuator into a large valve head stroke while maintaining a large blocking force. The function of the microvalve as an on-off switch for a pneumatic microbubble tactile actuator was demonstrated. To further reduce the cost of the microvalve, a laterally-stacked multilayer PZT actuator has been fabricated using diced PZT multilayer, high aspect ratio SU-8 photolithography, and molding of electrically conductive polymer composite electrodes.Ph.D.Committee Chair: Allen,Mark; Committee Member: Bucknall,David; Committee Member: Book,Wayne; Committee Member: Griffin,Anselm; Committee Member: Yao,Donggan

Soft Biomimetic Finger with Tactile Sensing and Sensory Feedback Capabilities

The compliant nature of soft fingers allows for safe and dexterous manipulation of objects by humans in an unstructured environment. A soft prosthetic finger design with tactile sensing capabilities for texture discrimination and subsequent sensory stimulation has the potential to create a more natural experience for an amputee. In this work, a pneumatically actuated soft biomimetic finger is integrated with a textile neuromorphic tactile sensor array for a texture discrimination task. The tactile sensor outputs were converted into neuromorphic spike trains, which emulate the firing pattern of biological mechanoreceptors. Spike-based features from each taxel compressed the information and were then used as inputs for the support vector machine (SVM) classifier to differentiate the textures. Our soft biomimetic finger with neuromorphic encoding was able to achieve an average overall classification accuracy of 99.57% over sixteen independent parameters when tested on thirteen standardized textured surfaces. The sixteen parameters were the combination of four angles of flexion of the soft finger and four speeds of palpation. To aid in the perception of more natural objects and their manipulation, subjects were provided with transcutaneous electrical nerve stimulation (TENS) to convey a subset of four textures with varied textural information. Three able-bodied subjects successfully distinguished two or three textures with the applied stimuli. This work paves the way for a more human-like prosthesis through a soft biomimetic finger with texture discrimination capabilities using neuromorphic techniques that provides sensory feedback; furthermore, texture feedback has the potential to enhance the user experience when interacting with their surroundings. Additionally, this work showed that an inexpensive, soft biomimetic finger combined with a flexible tactile sensor array can potentially help users perceive their environment better

The Art of Tactile Sensing: A State of Art Survey

This paper describes about tactile sensors, its transduction methods, state-of-art and various application areas of these sensors. Here we are taking in consideration the sense of touch. This provides the robots with tactile perception. In most of the robotic application the sense of touch is very helpful. The ability of robots to touch and feel the object, grasping an object by controlled pressure, mainly to categorize the surface textures. Tactile sensors can measure the force been applied on an area of touch. The data which is interpreted from the sensor is accumulated by the array of coordinated group of touch sensors. The sense of touch in human is distributed in four kinds by tactile receptors: Meissner corpuscles, the Merkel cells, the Rufina endings, and the Pacinian corpuscles. There has many innovations done to mimic the behaviour of human touch. The contact forces are measured by the sensor and this data is used to determine the manipulation of the robot

Tactile sensing chips with POSFET array and integrated interface electronics

This work presents the advanced version of novel POSFET (Piezoelectric Oxide Semiconductor Field Effect Transistor) devices based tactile sensing chip. The new version of the tactile sensing chip presented here comprises of a 4 x 4 array of POSFET touch sensing devices and integrated interface electronics (i.e. multiplexers, high compliance current sinks and voltage output buffers). The chip also includes four temperature diodes for the measurement of contact temperature. Various components on the chip have been characterized systematically and the overall operation of the tactile sensing system has been evaluated. With new design the POSFET devices have improved performance (i.e. linear response in the dynamic contact forces range of 0.01–3N and sensitivity (without amplification) of 102.4 mV/N), which is more than twice the performance of their previous implementations. The integrated interface electronics result in reduced interconnections which otherwise would be needed to connect the POSFET array with off-chip interface electronic circuitry. This research paves the way for CMOS (Complementary Metal Oxide Semiconductor) implementation of full on-chip tactile sensing systems based on POSFETs