This work shows the accomplishment of a full integration of a biomimetic 2 à 2 tactile array and related electronics in an artificial fingertip. The technological approach is based on merging 3D MEMS sensors and skin-like artificial materials that are moulded mimicking human epidermal ridges. Experimental results using a mechatronic tactile stimulator for indenting periodic gratings (spatial periodicity from 400 ¿m to 1900 ¿m) and sliding them at constant speeds (from 5 mm/s to 40 mm/s) under regulated normal contact forces (between 100 mN and 400 mN) show that the developed sensing technology is suitable for fine roughness encoding: a frequency shift of the principal spectral component arising from sensor outputs was observed coherently with the spatial periodicity of the used ridged stimuli and their sliding velocity. Such phenomenon is pointed out with fine gratings particularly when the stimulation is operated along the proximal-distal direction of the finger (i.e. with sliding motion of the ridges of the stimulus across the ridges of the packaging) showing a more marked frequency locked behavior if compared to the radial-ulnar stimulation (i.e. with sliding motion of the ridges of the grating along the ridges of the packaging).

A Biomimetic MEMS-based Tactile Sensor Array with Fingerprints integrated in a Robotic Fingertip for Artificial Roughness Encoding

ODDO, Calogero Maria;BECCAI, LUCIA;MUSCOLO, Giovanni Gerardo;CARROZZA, Maria Chiara
2009-01-01

Abstract

This work shows the accomplishment of a full integration of a biomimetic 2 à 2 tactile array and related electronics in an artificial fingertip. The technological approach is based on merging 3D MEMS sensors and skin-like artificial materials that are moulded mimicking human epidermal ridges. Experimental results using a mechatronic tactile stimulator for indenting periodic gratings (spatial periodicity from 400 ¿m to 1900 ¿m) and sliding them at constant speeds (from 5 mm/s to 40 mm/s) under regulated normal contact forces (between 100 mN and 400 mN) show that the developed sensing technology is suitable for fine roughness encoding: a frequency shift of the principal spectral component arising from sensor outputs was observed coherently with the spatial periodicity of the used ridged stimuli and their sliding velocity. Such phenomenon is pointed out with fine gratings particularly when the stimulation is operated along the proximal-distal direction of the finger (i.e. with sliding motion of the ridges of the stimulus across the ridges of the packaging) showing a more marked frequency locked behavior if compared to the radial-ulnar stimulation (i.e. with sliding motion of the ridges of the grating along the ridges of the packaging).
2009
9781424447749
File in questo prodotto:
File Dimensione Formato  
Oddo_Robio_2009.pdf

non disponibili

Tipologia: Altro materiale
Licenza: Non pubblico
Dimensione 328.08 kB
Formato Adobe PDF
328.08 kB Adobe PDF   Visualizza/Apri   Richiedi una copia

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11382/306690
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 34
social impact