Robotic Tactile Sensing: Technologies and System (Hardcover)

Part I Technologies And System. 1 Touch Sensing - Why and Where? 1.1 Introduction. 1.2 Touch Sensing - Why? 1.3 Touch Sensing - Where? 1.4 Summary. References. 2 Tactile Sensing: Definitions and Classification. 2.1 Definitions. 2.2 Classification. References. 3 Human Tactile Sensing. 3.1 Introduction. 3.2 Neurophysiology of Human Tactile System. 3.3 Spatio-Temporal properties of Human Tactile Sensing. 3.4 Tactile Information Transfer and Encoding. 3.5 Tactile Sensing and perception. 3.6 Skin Mechanics and Tactile Sensing. 3.7 Design Hints for Robotic Tactile Sensing System. 3.8 Summary. References. 4 System Issues, Requirements and Expectations. 4.1 Introduction. 4.2 Task Related Requirements. 4.3 Hardware Related Requirements. 4.4 Mechanical/Physical Requirements and Expectations. 4.5 Electronics/Electrical Requirements. 4.6 Other Tactile System Requirements. 4.7 Summary. References. 5 Tactile Sensing Technologies. 5.1 Historical Perspective. 5.2 Tactile Sensing Based on Various Transduction Methods. 5.3 Materials for Tactile Sensing. 5.4 Tactile Sensor Structures. 5.5 Summary. References. Part II Integrated Tactile Sensing. 6 Integrated Tactile Sensing on Silicon. 6.1 Introduction and Historical Perspective. 6.2 Extended Gate Based Tactile Sensing Arrays. 6.3 Experiment Set up. 6.4 Experimental Results. 6.5 Summary. References. 7 POSFET I - The Touch Sensing Device. 7.1 The Structure andWorking of POSFETs. 7.2 Choice of Piezoelectric Material. 7.3 POSFETs Versus Extended Gate Approach. 7.4 Design Issues in POSFET Devices. 7.5 Fabrication of POSFETs. 7.6 Modeling and Simulation. 7.7 Experimental Results. 7.8 Summary. References. 8 POSFET II - The Tactile Sensing Chip. 8.1 POSFET Tactile Sensing Chip - Design and Fabrication. 8.2 Experimental Evaluation. 8.3 Future Dimensions. 8.4 Summary. References. Appendix A Fundamentals of Piezoelectricity. A.1 Introduction and Historical Perspective. A.2 Dielectric, Ferroelectric and Piezoelectric Materials. A.3 The Piezoelectric Effect. A.4 Piezoelectric Materials - Static Actions. A.5 Piezoelectric Effect - Basic Mathematical Formulation. References. Appendix B Modeling of Piezoelectric Polymers. B.1 Introduction. B.2 Theory. B.3 Measurement of Complex Constants. B.4 SPICE Implementation. B.5 Experiment versus Simulation. B.6 Relative Contribution of Various Losses. B.7 Design issues Associated with Piezoelectric Polymer Film. B.8 SPICE Netlist of Piezo-Polymer Model. B.9 Summary. References. Appendix C Design of Charge/Voltage Amplifiers. C.1 Charge Amplifier. C.2 Voltage Amplifier. Index.