Pyroelectrically Charged Flexible Ferroelectret-Based Tactile Sensor for Surface Texture Detection

摘要

Texture detection is one of the essential features requested for artificial tactile sensing to push the demand for flexible low-cost tactile sensors in the robotics sector. In this manuscript, we demonstrate the ability of a ferroelectret-based pressure sensor together with a patterned elastomer layer to detect surface textures. The ferroelectret sensor was fabricated using fluorinated ethylene propylene (FEP) sheets bonded with a patterned adhesive layer to create cavities, integrated with the elastomer bumped surface, and finally charged using a pyroelectric method developed by our group. The ferroelectret-based sensor showed a linear response to the applied force in the range of 0.5 to 2 N, a piezoelectric coefficient of 150.1 ± 3.2 pC/N in the range of 10–80 Hz, and a flat dynamic response in the range of 10–1000 Hz. The tactile sensing characterization of the sensor, performed at different scanning speeds (10 to 30 mm/s) and gratings with different periodicities (0 to 0.8 mm), showed that the fundamental frequencies observed ranged from 12 Hz to 75 Hz, as expected from the model. These results lay the foundation for the adoption of such sensors in different applications that need fine tactile information, such as an autonomous or teleoperated robotic hand, prostheses, and wearable devices.