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Side View 5.38 Conductive foam touch sensor
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packed in to prevent static damage. The foam has a nominal conductivity that changes as the material is compressed. It is important to use low-density (soft) conductive foam, because it is soft and spongy. As pressure is applied, the foam compresses, which changes the nominal resistance between the conductors. Figure 5.38 illustrates a simple touch sensor. The conductive plates may be made from printed circuit flexible board (PCB), aluminum foil, or something similar. Higher-fidelity touch and pressure sensors are reviewed a little later in this chapter.
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There are a great many piezoelectric sensors. Piezoelectric sensors can detect vibration, impact, and thermal radiation. Pennwall Company makes a unique product called piezoelectric film. This is an aluminized plastic that s been manufactured in such a way as to render the plastic piezoelectric. The material is sensitive enough to detect the thermal radiation of a person passing in front of it. Many commercial light sentries sold in hardware stores use piezoelectric film behind a Fresnel lens to detect the thermal radiation of a person. This type of light sentry automatically turns on a light when someone walks into its field of view.
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Sensors
Switches
Momentary contact switches form the foundation of bump sensors, navigation feelers, and limit sensors. There are many types of switch configurations to choose from. Some of the more common switches used in robotics are momentary contact lever and pushbutton switches (see Fig. 5.39).
Bend sensors
Bend sensors are passive resistive devices that increase in resistance as they are bent or flexed (see Figs. 5.40 and 5.41). More commonly used for making virtual-reality data gloves to measure
5.39 Momentary contact switches
5.40 Bend sensor
Top View 41 2"
1 4"
Nominal Resistance Flex 0 degrees 10 K Side View Flex 90 degrees 20K >degree of flex 30 40K
5.41 Bend sensor resistance graph
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5.42 Thermistor
5.43 Positive (left) and negative (right) temperature coefficient thermistor graphs
the flexing of fingers, these versatile sensors can easily be adapted to robotics. The bend sensor makes an interesting feeler that can inform the robot of an obstacle. I am reminded of a cat s whiskers. Cats use their whiskers to determine if a particular passageway is wide enough to pass through. If the whiskers on both sides of a cat s face touch each side of a passageway, the cat will most probably not try to pass through it. The bend sensors can be used in a similar manner.
Heat
The most common heat sensor is the thermistor (see Fig. 5.42). This passive device changes resistance in proportion to its temperature. There are positive temperature coefficient and negative temperature coefficient thermistors (see Fig. 5.43). Thermal radiation can also be detected by piezoelectric materials as discussed earlier.
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Sensors
5.44 Flexiforce pressure sensor
Pressure sensor
Pressure sensors, shown in Fig. 5.44, are perfect for measuring forces. The sensor portion on the sensor is contained in the 14 mm 14 mm pad at the end of the sensor. The resistance of the sensor decreases as force is applied. There are a variety of pressure ranges available from 0 to 1 pound (lb) up to 0 to 1000 lb.
Smell
Currently no sensor exists that can approach the olfactory sense of the human nose. What is available are simple gas sensors that can detect toxic gases (see Fig. 5.45). The gas sensors can be used to create automatic (robotic) ventilation systems.
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A simple sensor setup is shown in Fig. 5.46. The resistive element must be heated to become sensitive. The sensor incorporates its own heating unit, which is separately powered. The heater requires a regulated 5 V for proper operation and draws about 130 mA. The resistive element can be read like any other resistive sensor used thus far. The potential for these gas sensors is greater than what is implied in the simple schematic. The gas sensors are not precise instruments. In other words, their response varies slightly from device to device. This analog property can be used to create a more sensitive smell detector. Let s arrange eight sensors. The resistive element from each sensor is connected to an A/D convertor. A comparator circuit wouldn t do in this situation because precise and subtle variations in response are what we are looking for. To calibrate the device, a small amount of a known gas (smell) is released by the eight sensors. The response of each detector is measured by the A/D convertor and recorded by the main computer. Since the responses of the detectors will vary, an eight-number pattern is created for each smell. Pattern matching is well established in neural networks. A neural network can be built using the information gathered that can not only measure but recognize different smells.
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