BioTac Sensor Details_rr

Roper Resources Ltd.

tel. land (250) 361-9115 | cell (805) 798-0277

Chris@RoperResources.com

BioTac Sensor Details 速

Forces

Vibration

Thermal

Z X

Kg

Y

速

2011 07 14

The BioTac® is a revolutionary tactile sensor system from SynTouch LLC. The patented design consists of a rigid core surrounded by an elastic skin filled with a fluid to give a compliance remarkably similar to the human fingertip. The BioTac is the first sensor capable of detecting the full range of sensory information that human fingers can detect: forces, microvi[kZmbhgl% Zg] ma^kfZe `kZ]b^gml' P^ o^ incorporated these sensory functions into the device without placing a single sensor in the skin itself. The skin is an easily replaced, low-cost, molded elastomeric sleeve. The sensors, electronic circuitry and connections are protected inside the rigid core, making the BioTac in a class of its own when it comes to robustness.

Rigid

Raw data collected from the BioTac include: •

Voltages of impedance sensing electrodes (skin deformation)

•

Total fluid pressure

•

Hydrophonic fluid pressure (microvibrations on the skin surface)

•

Temperature and heat flow (into contacted objects)

Processing of these data permits extraction of: •

Tri-Axial forces and centroid localization

•

Object compliance

•

Skin deformation and contour

•

Surface texture properties (roughness and slipperiness)

•

Thermal properties (discrimination between dissimilar materials)

Core

st Ela

kin S ic

WWW.SynTouchLLC.com

Info@SynTouchLLC.com

213.973.4102

Sensor Output Sensory Modality

Range

Impedance

0 – 3.3V

Fluid Pressure

0 – 100 kPa

Microvibration

Resolution

Sampling Rate

Frequency Response

100 Hz

0-50 Hz

100 Pa

100 Hz

0-50 Hz

0 – 2 kPa (AC)

2 Pa

2000 Hz

20-2200 Hz

Temperature

0 – 80 C

0.1 C

100 Hz

0-50 Hz

Thermal Flux

0 – 1 C/s

0.001 C/s

100 Hz

0.1-50 Hz

3.2 mV

Communication Protocols

Circuit Schematic

The BioTac is a slave in SPI communications, with a clockspeed of 1-5 MHz , and with each frame encompassing 90 bytes:

SPI Bus Pinout Configuration 1

SPI communication: MOSI

2

SPI communication: SS

3

PIC programming: PGD

4

PIC programming: PGC

5

SPI communication: SCK

6

SPI communication: MISO

7

Test Pin

8

PIC programming: /MCLR

9

Power: 3.3V (Output only)

10

Power: 5,0V (Input only)

11

Power: 12V (Input only)

12

Power: GND

WWW.SynTouchLLC.com

Byte Number

Description

Byte 1-2

Header, read 234

Byte 3-4

Electrode 1

Byte 5-6

Electrode 2

Byte 7-8

Electrode 3

Byte 9-10

Electrode 4

Byte 11-12

Electrode 5

Byte 13-14

Electrode 6

Byte 15-16

Electrode 7

Byte 17-18

Electrode 8

Byte 19-20

Electrode 9

Byte 21-22

Electrode 10

Byte 23-24

Electrode 11

Byte 25-26

Electrode 12

Byte 27-28

Electrode 13

Byte 29-30

Electrode 14

Byte 31-32

Electrode 15

Byte 33-34

Electrode 16

Byte 35-36

Electrode 17

Byte 37-38

Electrode 18

Byte 39-40

Electrode 19

Byte 41-84

Pressure AC

Byte 85-86

Pressure DC

Byte 87-88

Temperature AC

Byte 89-90

Temperature DC

Info@SynTouchLLC.com

213.973.4102

Effective Force-Sensing Performance The values are based on application of normal forces to production prototypes. Actual values depend on materials and dimensions that can be adjusted to meet requirements for specific applications. For details of test conditions see: http://www.syntouchllc.com/TAC_BioRob_08_Final.pdf http://www.syntouchllc.com/Humanoids_Tactile_Workshop_2009_v4.pdf

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Circuit Schematic Repeatability: <5% within range

Materials Part

Material

Weight

Remarks

Hysteresis:

<5% within range

Skin

Silicone elastomer

2g

Good Wearing

Spatial resolution:

<3mm

Core

Epoxy resin

7g

Durable

Fluid

PEG-200/ Water blend & Sodium Bromide

Top View

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Side View

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Roper Resources Ltd.

WWW.SynTouchLLC.com

Nail

Acrylic

tel. land (250) 361-9115 | cell (805) 798-0277

Info@SynTouchLLC.com

0.3-0.5g Nontoxic 0.5g

Chris@RoperResources.com

213.973.4102