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A Small and Low-Cost 3-D Tactile Sensor for a Wearable Force Plate

机译：用于穿戴式测力板的小型低成本3D触觉传感器

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摘要

In this paper, a new 3-D tactile sensor is proposed for measuring triaxial ground reaction force (GRF) distribution. A pressure-sensitive electric conductive rubber (PSECR) and compact pectinate circuits were used to design the sensing cells of the sensor, making it possible to implement a low-cost and compact system without a complex 3-D structure. Moreover, to tailor the application for measuring human GRF, we adopted the use of elastic rubber as the contact interface of the sensor in order to realize a comfortable human–sensor interface. Calibration and test experiments were conducted to characterize the developed sensor, and a small triaxial force sensor (Tec Gihan, Japan) as well as a six-axial force sensor (Nitta Corporation, Japan) were used as verification measurement devices. Coupling effect tests were performed to calculate cross-sensitivity of the sensor. The experimental results of repeatability, nonlinearity, hysteresis, and dynamic tests indicate that the sensor is feasible for implementing 3-D tactile measurement.
机译：本文提出了一种新型的3-D触觉传感器，用于测量三轴地面反作用力（GRF）分布。压敏导电橡胶（PSECR）和紧凑的果胶酸盐电路用于设计传感器的传感单元，从而可以实现低成本，紧凑的系统，而无需复杂的3D结构。此外，为了定制用于测量人体GRF的应用，我们采用弹性橡胶作为传感器的接触界面，以实现舒适的人体-传感器界面。进行了校准和测试实验以表征开发的传感器，并使用小型三轴力传感器（日本Tec Gihan）和六轴力传感器（日本Nitta Corporation）作为验证测量设备。进行耦合效应测试以计算传感器的交叉灵敏度。重复性，非线性，磁滞和动态测试的实验结果表明，该传感器可用于实施3-D触觉测量。

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