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