Three Realizations and Comparison of Hardware for Piezoresistive Tactile Sensors 英文参考文献.docVIP

Sensors 2011, 11, 3249-3266; doi:10.3390/s110303249 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Three Realizations and Comparison of Hardware for Piezoresistive Tactile Sensors Fernando Vidal-Verdú *, óscar Oballe-Peinado, José A. Sánchez-Durán, Julián Castellanos-Ramos and Rafael Navas-González Department of Electronics, University of Málaga, 29071 Málaga, Spain; E-Mails: oballe@uma.es (O.O.-P.); jsd@uma.es (J.A.S.-D.); jcramos@uma.es (J.C.-R.); rjnavas@uma.es (R.N.-G.) * Author to whom correspondence should be addressed; E-Mail: fvidal@uma.es; Tel.: +34-952-133-325; Fax: +34-952-133-324. Received: 17 January 2011; in revised form: 10 March 2011 / Accepted: 14 March 2011 / Published: 17 March 2011 Abstract: Tactile sensors are basically arrays of force sensors that are intended to emulate the skin in applications such as assistive robotics. Local electronics are usually implemented to reduce errors and interference caused by long wires. Realizations based on standard microcontrollers, Programmable Systems on Chip (PSoCs) and Field Programmable Gate Arrays (FPGAs) have been proposed by the authors for the case of piezoresistive tactile sensors. The solution employing FPGAs is especially relevant since their performance is closer to that of Application Specific Integrated Circuits (ASICs) than that of the other devices. This paper presents an implementation of such an idea for a specific sensor. For the purpose of comparison, the circuitry based on the other devices is also made for the same sensor. This paper discusses the implementation issues, provides details regarding the design of the hardware based on the three devices and compares them. Keywords: tactile sensors hardware; direct connection sensor-FPGA; PSoC 1. Introduction Tactile sensors can be based on different principles, including capacitive, resistive or optical methods, and are oriented to