Direct Shear Stress Mapping Using a Gallium Nitride LED-Based Tactile Sensor
Open Access
- 24 April 2023
- journal article
- research article
- Published by MDPI AG in Micromachines
- Vol. 14 (5) , 916
Abstract
An experiment was performed to calibrate the capability of a tactile sensor, which is based on gallium nitride (GaN) nanopillars, to measure the absolute magnitude and direction of an applied shear force without the need for any post-processing of data. The force’s magnitude was deduced from monitoring the nanopillars’ light emission intensity. Calibration of the tactile sensor used a commercial force/torque (F/T) sensor. Numerical simulations were carried out to translate the F/T sensor’s reading to the shear force applied to each nanopillar’s tip. The results confirmed the direct measurement of shear stress from 3.71 to 50 kPa, which is in the range of interest for completing robotic tasks such as grasping, pose estimation, and item discovery.Keywords
Funding Information
- National Science Foundation (DMR 1409529, ECCS 1838996, DGE 1841052)
- NSF graduate fellowship (DMR 1409529, ECCS 1838996, DGE 1841052)
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