Thick-film force and slip sensors for a prosthetic hand
Thick-film force and slip sensors for a prosthetic hand
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DOI：
10.1016/j.sna.2005.02.015
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发表时间：
2005-09-23
影响因子：
4.6
通讯作者：
White, NM
中科院分区：
文献类型：
--
作者：
Cranny, A;Cotton, DPJ;White, NM
为了改善假手装置的功能，已经开发了一种新的指尖，其结合了传感器来测量温度和抓握力，并检测物体从手上滑落的开始。该传感器已实现使用厚膜印刷技术，并利用市售丝网印刷电阻浆料的压阻特性和专有的锆钛酸铅（PZT）配方浆料的压电特性。该力传感器对高达50 N的力具有高度线性响应，最大滞后小于满量程的1.4%。当被配置为伪半桥测量电路时，力传感器表现出比当被配置为经典半桥电路时对指尖上的力的位置的上级不敏感性。力传感器的响应随温度变化也非常稳定，当负载高达10.8 N的力时，在-10 ° C至+35 ° C的温度范围内，输出响应的变化通常小于0.04%。压电PZT振动传感器检测悬臂的小振动的能力，指示对象滑动，也已被证明。(C)2005 Elsevier B.V保留所有权利。
In an attempt to improve the functionality of a prosthetic hand device, a new fingertip has been developed that incorporates sensors to measure temperature and grip force and to detect the onset of object slip from the hand. The sensors have been implemented using thick-film printing technology and exploit the piezoresistive characteristics of commercially available screen printing resistor pastes and the piezoelectric properties of proprietary lead-zirconate-titanate (PZT) formulated pastes. The force sensor exhibits a highly linear response to forces up to 50 N with a maximum hysteresis of less than 1.4% of full scale. When configured as a pseudo half-bridge measurement circuit, the force sensor demonstrates superior insensitivity to the position of the force on the fingertip than when configured as a classic half-bridge circuit. The force sensor response is also extremely stable with temperature, typically showing variation in the output response of less than 0.04% over the temperature range - 10 degrees C to +35 degrees C when loaded with forces up to 10.8 N. The ability of the piezoelectric PZT vibration sensor to detect small vibrations of the cantilever, indicative of object slip, has also been demonstrated. (C) 2005 Elsevier B.V All rights reserved.