Development of microsized slip sensors using dielectric elastomer for incipient slippage

Do Yeon Hwang; Baek Chul Kim; Han Jeong Cho; Zhengyuan Li; Youngkwan Lee; Jae Do Nam; Hyungpil Moon; Hyouk Ryeol Choi; J. C. Koo

doi:10.1117/12.2045218

Development of microsized slip sensors using dielectric elastomer for incipient slippage

Do Yeon Hwang, Baek Chul Kim, Han Jeong Cho, Zhengyuan Li, Youngkwan Lee, Jae Do Nam, Hyungpil Moon, Hyouk Ryeol Choi, J. C. Koo

Sungkyunkwan University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

A humanoid robot hand has received significant attention in various fields of study. In terms of dexterous robot hand, slip detecting tactile sensor is essential to grasping objects safely. Moreover, slip sensor is useful in robotics and prosthetics to improve precise control during manipulation tasks. In this paper, sensor based-human biomimetic structure is fabricated. We reported a resistance tactile sensor that enables to detect a slip on the surface of sensor structure. The resistance slip sensor that the novel developed uses acrylonitrile-butadiene rubber (NBR) as a dielectric substrate and carbon particle as an electrode material. The presented sensor device in this paper has fingerprint-like structures that are similar with the role of the human's finger print. It is possible to measure the slip as the structure of sensor makes a deformation and it changes the resistance through forming a new conductive route. To verify effectiveness of the proposed slip detection, experiment using prototype of resistance slip sensor is conducted with an algorithm to detect slip and slip was successfully detected. In this paper, we will discuss the slip detection properties so four sensor and detection principle.

Original language	English
Title of host publication	Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2014
Publisher	SPIE
ISBN (Print)	9780819499875
DOIs	https://doi.org/10.1117/12.2045218
State	Published - 2014
Event	Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2014 - San Diego, CA, United States Duration: 10 Mar 2014 → 13 Mar 2014

Publication series

Name	Proceedings of SPIE - The International Society for Optical Engineering
Volume	9061
ISSN (Print)	0277-786X
ISSN (Electronic)	1996-756X

Conference

Conference	Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2014
Country/Territory	United States
City	San Diego, CA
Period	10/03/14 → 13/03/14

Keywords

Graphene
Imprint
Synthetic elastomer

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10.1117/12.2045218

Cite this

Hwang, D. Y., Kim, B. C., Cho, H. J., Li, Z., Lee, Y., Nam, J. D., Moon, H., Choi, H. R., & Koo, J. C. (2014). Development of microsized slip sensors using dielectric elastomer for incipient slippage. In Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2014 Article 906128 (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 9061). SPIE. https://doi.org/10.1117/12.2045218

@inproceedings{87a7cae91b364cfaad14faadd5d1be61,

title = "Development of microsized slip sensors using dielectric elastomer for incipient slippage",

abstract = "A humanoid robot hand has received significant attention in various fields of study. In terms of dexterous robot hand, slip detecting tactile sensor is essential to grasping objects safely. Moreover, slip sensor is useful in robotics and prosthetics to improve precise control during manipulation tasks. In this paper, sensor based-human biomimetic structure is fabricated. We reported a resistance tactile sensor that enables to detect a slip on the surface of sensor structure. The resistance slip sensor that the novel developed uses acrylonitrile-butadiene rubber (NBR) as a dielectric substrate and carbon particle as an electrode material. The presented sensor device in this paper has fingerprint-like structures that are similar with the role of the human's finger print. It is possible to measure the slip as the structure of sensor makes a deformation and it changes the resistance through forming a new conductive route. To verify effectiveness of the proposed slip detection, experiment using prototype of resistance slip sensor is conducted with an algorithm to detect slip and slip was successfully detected. In this paper, we will discuss the slip detection properties so four sensor and detection principle.",

keywords = "Graphene, Imprint, Synthetic elastomer",

author = "Hwang, \{Do Yeon\} and Kim, \{Baek Chul\} and Cho, \{Han Jeong\} and Zhengyuan Li and Youngkwan Lee and Nam, \{Jae Do\} and Hyungpil Moon and Choi, \{Hyouk Ryeol\} and Koo, \{J. C.\}",

year = "2014",

doi = "10.1117/12.2045218",

language = "English",

isbn = "9780819499875",

series = "Proceedings of SPIE - The International Society for Optical Engineering",

publisher = "SPIE",

booktitle = "Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2014",

note = "Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2014 ; Conference date: 10-03-2014 Through 13-03-2014",

}

Hwang, DY, Kim, BC, Cho, HJ, Li, Z, Lee, Y, Nam, JD , Moon, H , Choi, HR & Koo, JC 2014, Development of microsized slip sensors using dielectric elastomer for incipient slippage. in Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2014., 906128, Proceedings of SPIE - The International Society for Optical Engineering, vol. 9061, SPIE, Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2014, San Diego, CA, United States, 10/03/14. https://doi.org/10.1117/12.2045218

Development of microsized slip sensors using dielectric elastomer for incipient slippage. / Hwang, Do Yeon; Kim, Baek Chul; Cho, Han Jeong et al.
Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2014. SPIE, 2014. 906128 (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 9061).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Development of microsized slip sensors using dielectric elastomer for incipient slippage

AU - Hwang, Do Yeon

AU - Kim, Baek Chul

AU - Cho, Han Jeong

AU - Li, Zhengyuan

AU - Lee, Youngkwan

AU - Nam, Jae Do

AU - Moon, Hyungpil

AU - Choi, Hyouk Ryeol

AU - Koo, J. C.

PY - 2014

Y1 - 2014

N2 - A humanoid robot hand has received significant attention in various fields of study. In terms of dexterous robot hand, slip detecting tactile sensor is essential to grasping objects safely. Moreover, slip sensor is useful in robotics and prosthetics to improve precise control during manipulation tasks. In this paper, sensor based-human biomimetic structure is fabricated. We reported a resistance tactile sensor that enables to detect a slip on the surface of sensor structure. The resistance slip sensor that the novel developed uses acrylonitrile-butadiene rubber (NBR) as a dielectric substrate and carbon particle as an electrode material. The presented sensor device in this paper has fingerprint-like structures that are similar with the role of the human's finger print. It is possible to measure the slip as the structure of sensor makes a deformation and it changes the resistance through forming a new conductive route. To verify effectiveness of the proposed slip detection, experiment using prototype of resistance slip sensor is conducted with an algorithm to detect slip and slip was successfully detected. In this paper, we will discuss the slip detection properties so four sensor and detection principle.

AB - A humanoid robot hand has received significant attention in various fields of study. In terms of dexterous robot hand, slip detecting tactile sensor is essential to grasping objects safely. Moreover, slip sensor is useful in robotics and prosthetics to improve precise control during manipulation tasks. In this paper, sensor based-human biomimetic structure is fabricated. We reported a resistance tactile sensor that enables to detect a slip on the surface of sensor structure. The resistance slip sensor that the novel developed uses acrylonitrile-butadiene rubber (NBR) as a dielectric substrate and carbon particle as an electrode material. The presented sensor device in this paper has fingerprint-like structures that are similar with the role of the human's finger print. It is possible to measure the slip as the structure of sensor makes a deformation and it changes the resistance through forming a new conductive route. To verify effectiveness of the proposed slip detection, experiment using prototype of resistance slip sensor is conducted with an algorithm to detect slip and slip was successfully detected. In this paper, we will discuss the slip detection properties so four sensor and detection principle.

KW - Graphene

KW - Imprint

KW - Synthetic elastomer

UR - https://www.scopus.com/pages/publications/84902202604

U2 - 10.1117/12.2045218

DO - 10.1117/12.2045218

M3 - Conference contribution

AN - SCOPUS:84902202604

SN - 9780819499875

T3 - Proceedings of SPIE - The International Society for Optical Engineering

BT - Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2014

PB - SPIE

T2 - Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2014

Y2 - 10 March 2014 through 13 March 2014

ER -

Development of microsized slip sensors using dielectric elastomer for incipient slippage

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