Post on 18-Mar-2016
description
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BioTac Sensor Details
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Forces Vibration Thermal
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2011 07 14
Roper Resources Ltd. tel. land (250) 361-9115 | cell (805) 798-0277 Chris@RoperResources.com
Rigid Core
WWW.SynTouchLLC.com Info@SynTouchLLC.com 213.973.4102
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-
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.
Elastic Skin
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)
WWW.SynTouchLLC.com Info@SynTouchLLC.com 213.973.4102
Sensor OutputSensory Modality Range Resolution Sampling Rate Frequency Response
Impedance 0 – 3.3V 3.2 mV 100 Hz 0-50 Hz
Fluid Pressure 0 – 100 kPa 100 Pa 100 Hz 0-50 Hz
Microvibration 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
SPI Bus Pinout Configuration1 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
Communication ProtocolsThe BioTac is a slave in SPI communications, with a
clockspeed of 1-5 MHz , and with each frame
encompassing 90 bytes:
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
Circuit Schematic
WWW.SynTouchLLC.com Info@SynTouchLLC.com 213.973.4102
Circuit Schematic
Effective Force-Sensing PerformanceThe 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
Repeatability: <5% within range
Hysteresis: <5% within range
Spatial resolution: <3mm
MaterialsPart Material Weight Remarks
Skin Silicone elastomer 2g Good Wearing
Core Epoxy resin 7g Durable
Fluid PEG-200/ Water blend &
Sodium Bromide 0.3-0.5g Nontoxic
Nail Acrylic 0.5g Top View
Side View
Roper Resources Ltd. tel. land (250) 361-9115 | cell (805) 798-0277 Chris@RoperResources.com