Sensors, Focus on Tactile, Force and Stress Sensors 2011 Part 15

Tham khảo tài liệu 'sensors, focus on tactile, force and stress sensors 2011 part 15', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Recognition of Contact State of Four Layers Arrayed Type Tactile Sensor by Using Neural Networks 411 In the human tactile sensing the brain synthesizes nerve signals from many receptors and obtains cutaneous stress distribution to finally recognize the contact state. This human information processing mechanism has not been cleared yet therefore many artificial intelligence methods are proposed and evaluated. As one of the methods of processing information from many sensing elements neural networks referred to herein as NN are well known Wasserman 1993 Watanabe Yoneyama 1992 . As for the pattern recognition by vision sensors there are many researches applying NN for processing image pixel data Marr 1982 Sugie 2000 . However there are few reports applying NN for tactile sensors Aoyagi et al 2005 Aoyagi Tanaka 2007 since a practical inexpensive and widely used tactile sensor composed of many sensing elements has not been established mainly because of fabrication difficulties. The following of this chapter is constructed as follows 1. The micromachined force sensing elements under development by the author s group are introduced. One has the silicon structure having a pillar on a diaphragm on which four piezoresistors are fabricated to detect the distortion caused by a force input to the pillar. Another has the polymer PDMS structure having a concave area inside on top and bottom surfaces of which aluminum electrodes are deposited realizing a capacitor. 2. Since a practical arrayed tactile sensor composed of many of the force sensing element is under development the output of an assumed arrayed type tactile sensor is simulated by the finite element method FEM . The FEM-simulated stress distribution data are assigned to each assumed stress sensing element of the array. Then all data of these elements are processed by NN. 3. Imitating the human skin an arrayed type tactile sensor comprising four layers is proposed and assumed. The information processing method of this .

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