Thick-film force, slip and temperature sensors for a prosthetic hand
Thick-film force, slip and temperature sensors for a prosthetic hand
复制标题
DOI：
10.1088/0957-0233/16/4/005
复制
发表时间：
2005-04-01
影响因子：
2.4
通讯作者：
White, NM
中科院分区：
文献类型：
--
作者：
Cranny, A;Cotton, DPJ;White, NM
厚膜静态和动态力传感器已经被研究，因为它们适合测量施加在假手握住的物体上的握力，并检测和相应的反应可能的滑动被抓住的项目。静力传感器利用了市售厚膜糊状物的压阻特性，而动态滑移传感器利用了专有的PZT（锆钛酸铅）糊状物的压电特性。传感器位于不锈钢悬臂式结构上，将放置在假手的每个手指的指尖。还包括温度传感器，为力传感器提供温度补偿，并防止假体意外热损伤。结果表明，静力传感器能够测量超过100 N的指尖力，电半桥配置灵敏度接近10 mu V V-1 N-1（有改进的余地），最大迟滞低于满量程的4%，具体取决于悬臂传感器阵列附着在手指上的方式。将PZT层固定在不锈钢悬臂梁上的结合机制失效意味着所提出的动态力传感器无法评估。然而，使用在氧化铝基板上制造的相同传感器设计的研究表明，PZT动态力传感器具有测量振动的潜力，因此有可能作为滑移传感器使用。
Thick-film static and dynamic force sensors have been investigated for their suitability to measure the grip forces exerted upon an object held by a prosthetic hand, and to detect and correspondingly react to the possible slip of a gripped item. The static force sensors exploit the piezoresistive characteristics of commercially available thick-film pastes whilst the dynamic slip sensors utilize the piezoelectric behaviour of proprietary PZT (lead zirconate titanate) pastes. The sensors are located upon stainless steel cantilever type structures that will be placed at the fingertips of each digit of the prosthetic hand. Temperature sensors are also included to provide temperature compensation for the force sensors and to prevent accidental thermal damage to the prosthesis. Results have shown that the static force sensor is capable of measuring fingertip forces in excess of 100 N, with an electrical half-bridge configuration sensitivity approaching 10 mu V V-1 N-1 (with scope for improvement) and maximum hysteresis below 4% of full scale, depending on the manner in which the cantilever sensor array is attached to the finger. Failure in the bonding mechanism that secures the PZT layer to the stainless steel cantilever meant that the proposed dynamic force sensor could not be evaluated. However, investigations using the same sensor design fabricated on an alumina substrate have shown the potential of the PZT dynamic force sensor to measure the vibration and hence potentially operate as a slip sensor.