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Name ： Chien-Liang Mu ( 穆建良 ) Advisor ： Cheng-Hsin Chuang ( 莊承鑫 )

可感知力量與雙軸滑動運用具結構化電極之軟性複合式觸覺感測器. Name ： Chien-Liang Mu ( 穆建良 ) Advisor ： Cheng-Hsin Chuang ( 莊承鑫 ) Department of Mechanical Engineering & Institute of Nanotechnology Southern Taiwan University of Science and Technology , Tainan Taiwan Date ： 2014-03-19. Outline. Motivation

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Name ： Chien-Liang Mu ( 穆建良 ) Advisor ： Cheng-Hsin Chuang ( 莊承鑫 )

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  1. 可感知力量與雙軸滑動運用具結構化電極之軟性複合式觸覺感測器可感知力量與雙軸滑動運用具結構化電極之軟性複合式觸覺感測器 Name： Chien-Liang Mu (穆建良) Advisor：Cheng-Hsin Chuang(莊承鑫) Department of Mechanical Engineering & Institute of Nanotechnology Southern Taiwan UniversityofScience and Technology, Tainan Taiwan Date ：2014-03-19

  2. Outline • Motivation • The Concept ofMultifunction Tactile Sensor • Numerical Simulation • Sensor Fabrication • Experiment Setup and Measurement System • Results and Discussion • Conclusions

  3. Outline • Motivation • The Concept ofMultifunction Tactile Sensor • Numerical Simulation • Sensor Fabrication • Experiment Setup and Measurement System • Results and Discussion • Conclusions

  4. Motivation The mechanical arm for the auxiliary medical application Industrial automation Militarization The controlling conditions of precision grasping: • Mechanical property • Surface roughness • Contact position • Object slippage • Contact force Entertainment services The photographer for the manipulations of robotic

  5. Outline • Motivation • The Concept ofMultifunction Tactile Sensor • Numerical Simulation • Sensor Fabrication • Experiment Setup and Measurement System • Results and Discussion • Conclusions

  6. Mechanism of Slippage Sensing Shear Force Static Force: Object Weight Lateral Force: Friction • Advantages: • Polymer-based, PVDF • Simple Structure • Passive Device • Potential for Large Area • Disadvantages: • Only for Dynamic Force • Relative low Sensitivity • Cross-talk Effect Compressive Stress Normal Force Tensile Shear Force Stress Inner Structure

  7. Mechanism of Contact Force Sensing Structure • Advantages: • High sensitivity • Simple Structure • Small size and lightweight • Cheap • Disadvantages: • Temperature Effect • Adhesive quality impact • Single directionmeasurement Electrode PVDF Strain Gauge

  8. Outline • Motivation • The Concept ofMultifunction Tactile Sensor • Numerical Simulation • Sensor Fabrication • Experiment Setup and Measurement System • Results and Discussion • Conclusions

  9. Numerical Simulation (Uniaxial) Uniform Load of 1N Inner Structure The specifications of tactile sensor Package Layer (Top) Package Layer (Bottom) PVDF Film PI Film Strain Gauge The tactile sensor model design of FEM Material Properties for Numerical Simulation Shear Forceof 1N • The sensor size about 15 × 15 × 5 mm3

  10. Numerical Simulation-Concept Validation Extracted Path Y(2) The profile of electric potential along an extracted path Z(3) X(1) The contour of stress on the strain gauge surface

  11. Numerical Simulation-Concept Validation Tensile Stress PVDF Film Compressive Stress Shear Force Inner Structural Extracted Path Extracted Path Positive Electrical Potential Y(2) Negative Electrical Potential Z(3) X(1) The contour of electric potential on the PVDF surface

  12. Numerical Simulation (Biaxial) Shear Load of 1N B PI Film Package Layer (Bottom) Mesh: 183,441Elements D C Package Layer (Top) PVDF Film A Inner Structure Adhesives 接地 B D A C 0˚ 滑動方向 45˚ 90˚ 180˚

  13. Numerical Simulation(0。) Stress Tensile Stress Shear force1N Compressive Stress PVDF Film Voltage Positive Electrical Potential Shear force1N Negative Electrical Potential

  14. Numerical Simulation(45。) Stress Tensile Stress Shear force1N Compressive Stress PVDF Film Voltage Positive Electrical Potential Shear force1N Negative Electrical Potential

  15. Numerical Simulation(90。) Stress Tensile Stress Shear force1N Compressive Stress PVDF Film Voltage Positive Electrical Potential Shear force1N Negative Electrical Potential

  16. Numerical Simulation(180。) Stress Tensile Stress Shear force1N Compressive Stress PVDF Film Voltage Positive Electrical Potential Negative Electrical Potential Shear force1N

  17. Outline • Motivation • The Concept ofMultifunction Tactile Sensor • Numerical Simulation • Sensor Fabrication • Experiment Setup and Measurement System • Results and Discussion • Conclusions

  18. Sensor Fabrication (vii) Bonding Strain gauge by M-BOND 200 adhesive (i) FPC thin film PVDF Cu Sample Strain Gauge PI Adhesion layer (ii) Coat PR →Exposure →Develop PR PMMA (viii) PMMA master by machining Silicone rubber Mask Ag PDMS (iii) Wet etching electrode (ix) Inner structure molding by silicone rubber (iv) Strip PR (x) Bonding silicone rubber structure upon electrodes Top Electrode Bottom Electrode (v) PVDF thin film PVDF Film Strain Gauge Inner Structure Microelectrode (vi) Strip Ag layer on PVDF thin film surface OCA Top Electrode Bottom Electrode (xi) Package with PDMS (vii) Bonding by adhesive PDMS Photograph of flexible tactile sensor with structural electrode FPC Film

  19. Outline • Motivation • The Concept ofMultifunction Tactile Sensor • Numerical Simulation • Sensor Fabrication • Experiment Setup and Measurement System • Results and Discussion • Conclusions

  20. Conclusions • 電極圖案、結構大小更改，是否有效改善滑動訊號於量測上準確度。 • 裝置於機器手臂上，觀察夾取力量與初始滑動產生

  21. Thank you for your attention

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