Akademik Veri Yönetim Sistemi
Acer M. (Yürütücü)
TÜBİTAK Projesi, 2016 - 2018
Nowadays,
the need of designing tactile sensors and actuators for machines and robotic
systems has been demanded with the increase of the tasks related to human.
Tactile sense is an important feature for biomedical, rehabilitation, surgical
and service robot applications in order to be able to be used safely and
effectively. The properties of the human skin are being used for designing
sensors and actuators. The sensors are measuring the amplitude of mechanical,
electrical or thermal energy changes and localize them whereas the actuators
are providing realization and display of the tactile sensation. The purpose of
this project is to design, manufacture and cooperate the tactile sensor and the
tactile actuator. In this project, a piezoelectric (PZT) based, having 3x3 matrix
form, flexible, low profile, wearable and novel tactile sensor has been
developed. The 4x4mm2 PZT elements have been placed in 3 mm
distance and they have provided 0.578-0.821 V/N accuracy for the force measurement.
The parameters for the force localization,
the estimation of the surface geometries and the stiffness of materials have
been extracted. Preliminary studies for machine learning algorithms have been
done. The tactile actuator has 9 magnetic pins placed in 3x3 matrix form and a
magnetic based actuator has been developed. Every pin on the actuator provided 2.5
mm of vertical displacement and 102.78 mN force that the human skin can feel. The
mechatronic integration of the designs have been achieved and a new tactile
system has been established. The references for controlling the tactile
actuator have been provided by sensing the force localization and surface
geometries with the tactile sensor. Furthermore, a design methodology with
layer-by-layer fabrication for making customizable sensors and actuators
according to the applications have been developed. Besides, the results of the project
provide a solution method for the robotic systems operating with human.