A variable-impedance piezoelectric tactile sensor with tunable sensing performance for tissue hardness sensing in robotic tumor palpation

触觉传感器 电阻抗 机械阻抗 灵敏度(控制系统) 声学 压电传感器 执行机构 机器人学 压电 电子工程 工程类 材料科学 计算机科学 机器人 电气工程 人工智能 物理
作者
Feng Ju,Yahui Yun,Zhao Zhang,Yaoyao Wang,Yaming Wang,Lei Zhang,Bai Chen
出处
期刊:Smart Materials and Structures [IOP Publishing]
卷期号:27 (11): 115039-115039 被引量:16
标识
DOI:10.1088/1361-665x/aae54f
摘要

This paper presents a novel piezoelectric tactile sensor for tissue hardness sensing, featuring online tunable sensing performance (resonant frequency, sensitivity, measurement range) through varying its mechanical impedance. The variable-impedance mechanism is achieved with a unique double-cantilever structure, which also enables the sensor to operate at a low frequency suitable for testing biological tissues. A simultaneous actuation and sensing technique is used which allows detecting resonant frequency from electrical impedance of the piezoelectric actuator without using additional motion sensors, therefore simplifies the sensor's structure and instrumentation. The basic working principle and the variable-impedance method for performance tuning are explained mathematically and verified by numerical and experimental studies. The test results on a prototype show that it has an operating frequency (<300 Hz) much better than those in the literature. With the variable-impedance mechanism, sensitivity improvement ratios of 1.7, 2.6 and 3.8 times are achieved in three test ranges. And measurement range improvement ratio of 6.2 times is achieved. Ex vivo experiment confirms its effectiveness in detecting embedded lump. The proposed sensor can find wide applications in robotics, biomedical engineering, aerospace, etc, and may eventually inspire the designs of a new class of tactile sensors with online performance tuning capability.
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