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

Tactile Sensing for Robotic Applications

This chapter provides an overview of tactile sensing in robotics. This chapter is an attempt to answer three basic questions: \u2022 What is meant by Tactile Sensing? \u2022 Why Tactile Sensing is important? \u2022 How Tactile Sensing is achieved? The chapter is organized to sequentially provide the answers to above basic questions. Tactile sensing has often been considered as force sensing, which is not wholly true. In order to clarify such misconceptions about tactile sensing, it is defined in section 2. Why tactile section is important for robotics and what parameters are needed to be measured by tactile sensors to successfully perform various tasks, are discussed in section 3. An overview of `How tactile sensing has been achieved\u2019 is given in section 4, where a number of technologies and transduction methods, that have been used to improve the tactile sensing capability of robotic devices, are discussed. Lack of any tactile analog to Complementary Metal Oxide Semiconductor (CMOS) or Charge Coupled Devices (CCD) optical arrays has often been cited as one of the reasons for the slow development of tactile sensing vis-\ue0-vis other sense modalities like vision sensing. Our own contribution \u2013 development of tactile sensing arrays using piezoelectric polymers and involving silicon micromachining - is an attempt in the direction of achieving tactile analog of CMOS optical arrays. The first phase implementation of these tactile sensing arrays is discussed in section 5. Section 6 concludes the chapter with a brief discussion on the present status of tactile sensing and the challenges that remain to be solved

Development of microcantilever sensors for cell studies

Micro- and nano- electromechanical devices such as microcantilevers have paved the way for a large variety of new possibilities, such as the rapid diagnosis of diseases and a high throughput platform for drug discovery. Conventional cell assay methods rely on the addition of reagents, disrupting the measurement, therefore providing only the endpoint data of the cell growth experiment. In addition, these methods are typically slow to provide results and time and cost consuming. Therefore, microcantilever sensors are a great platform to conduct cell culturing experiments for cell culture, viability, proliferation, and cytotoxicity monitoring, providing advantages such as being able to monitor cell kinetics in real time without requiring external reagents, in addition to being low cost and fast, which conventional cell assay methods are unable to provide. This work aims to develop and test different types of microcantilever biosensors for the detection and monitoring of cell proliferation. This approach will overcome many of the current challenges facing microcantilever biosensors, including but not limited to achieving characteristics such as being low cost, rapid, easy to use, highly sensitive, label-free, multiplexed arrays, etc. Microcantilever sensor platforms utilizing both a single and scanning optical beam detection methods were developed and incorporated aspects such as temperature control, calibration, and readout schemes. Arrays of up to 16 or 32 microcantilever sensors can be simultaneously measured with integrated microfluidic channels. The effectiveness of these cantilever platforms are demonstrated through multiple studies, including examples of growth induced bending of polyimide cantilevers for simple real-time yeast cell measurements and a microcantilever array for rapid, sensitive, and real-time measurement of nanomaterial toxicity on the C3A human liver cell line. In addition, other techniques for microcantilever arrays and microfluidics will be presented along with demonstrations for the ability for stem cell growth monitoring and pathogen detection

Neuromorphic tactile sensor array based on fiber Bragg gratings to encode object qualities

Emulating the sense of touch is fundamental to endow robotic systems with perception abilities. This work presents an unprecedented mechanoreceptor-like neuromorphic tactile sensor implemented with fiber optic sensing technologies. A robotic gripper was sensorized using soft and flexible tactile sensors based on Fiber Bragg Grating (FBG) transducers and a neuro-bio-inspired model to extract tactile features. The FBGs connected to the neuron model emulated biological mechanoreceptors in encoding tactile information by means of spikes. This conversion of inflowing tactile information into event-based spikes has an advantage of reduced bandwidth requirements to allow communication between sensing and computational subsystems of robots. The outputs of the sensor were converted into spiking on-off events by means of an architecture implemented in a Field Programmable Gate Array (FPGA) and applied to robotic manipulation tasks to evaluate the effectiveness of such information encoding strategy. Different tasks were performed with the objective to grant fine manipulation abilities using the features extracted from the grasped objects (i.e., size and hardness). This is envisioned to be a futuristic sensor technology combining two promising technologies: optical and neuromorphic sensing

Characterisation of Tactile Sensors based on Fibre Bragg gratings Towards Temperature Independent Pressure Sensing

AbstractThis paper presents the development of flexible pressure sensing sheets, based on fibre Bragg grating sensing elements. The devices feature optical wavelength-encoded sensing signals and show promise in applications such as pressure mapping and tactile sensing. FBGs inscribed in highly-birefringent microstructured fibres, reflecting two separate Bragg peaks, are specially employed. Prototypes with FBGs embedded in polymer sheets were produced and characterised for temperature and pressure sensitivities. An improved sensor structure was implemented aiming at temperature independent tactile sensing with Bragg peak separation as the sensing signal

Miniaturized Piezo Force Sensor for a Medical Catheter and Implantable Device

Real-time monitoring of intrabody pressures can benefit from the use of miniaturized force sensors during surgical interventions or for the recovery period thereafter. Herein, we present a force sensor made of poly(vinylidene fluoride)-co-trifluoroethylene (P(VDF-TrFE)) with a simple fabrication process that has been integrated into the tip of a medical catheter for intraluminal pressure monitoring, as well as into an implantable device with a power consumption of 180 μW obtained by the near-field communication (NFC) interface to monitor the arterial pulse at the subcutaneous level (≤1 cm). The pressure range supported by the sensor is below 40 kPa, with a signal responsivity of 0.63 μV/Pa and a mean lifetime expectancy of 400 000 loading cycles inside physiological conditions (12 kPa). The proposed sensor has been tested experimentally with synthetic anatomical models for the lungs (bronchoscopy) and subcutaneous tissue, as well as directly above the human carotid and radial arteries. Information about these pressure levels can provide insights about tissue homeostasis inside the body as fluid dynamics are altered in some health conditions affecting the hemodynamic and endocrine body systems, whereas for surgical interventions, precise control and estimation of the pressure exerted by a catheter over the internal walls are necessary to avoid endothelium injuries that lead to bleeding, liquid extravasation, or flow alteration associated with atheroma formation

Transparent and flexible fingerprint sensor array with multiplexed detection of tactile pressure and skin temperature

We developed a transparent and flexible, capacitive fingerprint sensor array with multiplexed, simultaneous detection of tactile pressure and finger skin temperature for mobile smart devices. In our approach, networks of hybrid nanostructures using ultra-long metal nanofibers and finer nanowires were formed as transparent, flexible electrodes of a multifunctional sensor array. These sensors exhibited excellent optoelectronic properties and outstanding reliability against mechanical bending. This fingerprint sensor array has a high resolution with good transparency. This sensor offers a capacitance variation ~17 times better than the variation for the same sensor pattern using conventional ITO electrodes. This sensor with the hybrid electrode also operates at high frequencies with negligible degradation in its performance against various noise signals from mobile devices. Furthermore, this fingerprint sensor array can be integrated with all transparent forms of tactile pressure sensors and skin temperature sensors, to enable the detection of a finger pressing on the display