School of Engineering Department of Electronic and Computer Engineering 148 Development of Bioinspired Tactile Sensor Supervisor: SHEN Yajing / ECE Student: HONG Lanxuan / COSC Course: UROP 1000, Summer This report presents the development of a tactile sensor based on distance measurement. The tactile sensor comprises a thin elastomer and a distance sensor, where the pressure on the elastomer leads to deformation. The distance sensor can record this tiny change in distance and detect minute contact. The general performance of this tactile sensor is evaluated by its sensitivity and robustness. Several distance sensors were tested, and the elastomer’s thickness, shape and surface were optimized to improve the sensor’s sensitivity. Data analysis was also carried out to enhance its general performance. I also designed a packaging to make the sensor user-friendly. This product can enhance the performance and accuracy of robotic arms when detecting grasped objects. More details can be found on https://github.com/justlanxuan/a-tactilesensor. Development of Bioinspired Tactile Sensor Supervisor: SHEN Yajing / ECE Student: LI Fengtong / ELEC Course: UROP 1100, Spring Over the past two decades, tactile sensors have garnered significant attention and have become increasingly important in fields such as healthcare, industrial automation, and bionic research. This report presents the integration of the MLX90393 magnetometer and MPU6050 inertial measurement unit into a flexible tactile sensor system. By adhering to critical PCB design principles, the system reliably and accurately acquires motion data. The Arduino-based program enables real-time data analysis, and a self-correction mechanism improves measurement accuracy. This integration allows robots to perform complex tasks, mimicking human hand capabilities. Future work includes optimizing sensor placement, enhancing data processing algorithms, and integrating additional sensors. Development of Bioinspired Tactile Sensor Supervisor: SHEN Yajing / ECE Student: RA Hoonjoo / CPEG Course: UROP 3200, Fall UROP 3100, Spring Based on the chameleon-inspired optical-based tactile sensor principle researched in the previous semester, a new sensing system is implemented to discover the utilization of the principle in practice. In order to create a controlled environment and surpass hardware limitations, a sensor box was designed. Different silicons with various softness and elasticity were tested to find the appropriate material to detect the normal force reaction on the sensing film. Due to the utilization of various materials, a bigger model was built and trained with more input variables to stabilize the trained model. The trained model acquired the R-squared value of 0.8458, which argues that it is more stable than the previous model.
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