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Tactile Sensing Based on Gallium Nitride Light-Emitting Diodes
Tactile Sensing Based on Gallium Nitride Light-Emitting Diodes
상세정보
- 자료유형
- 학위논문 서양
- 최종처리일시
- 20250211153010
- ISBN
- 9798384044772
- DDC
- 620.5
- 저자명
- Dvorak, Nathan.
- 서명/저자
- Tactile Sensing Based on Gallium Nitride Light-Emitting Diodes
- 발행사항
- [Sl] : University of Michigan, 2024
- 발행사항
- Ann Arbor : ProQuest Dissertations & Theses, 2024
- 형태사항
- 125 p
- 주기사항
- Source: Dissertations Abstracts International, Volume: 86-03, Section: B.
- 주기사항
- Advisor: Ku, Pei-Cheng.
- 학위논문주기
- Thesis (Ph.D.)--University of Michigan, 2024.
- 초록/해제
- 요약In this dissertation we propose and demonstrate a novel tactile sensor, MichTac. MichTac uses gallium nitride (GaN) light-emitting diodes (LED) nanopillars. Tactile sensing modes demonstrate shear force measurement in ambient and extreme conditions, contact patch measurement, force mapping, high frequency response, tactile morse code reading, and liquid leak detections. MichTac detects tactile sensation by monitoring the shear force applied on the nanopillars. This shear force causes the electrons and holes to separate in the radial direction and reduces the light intensity emitted from the nanopillars. We developed a toolkit to custom-design MichTac based on the intended application.We demonstrate MichTac's directional sensitivity and capability of mapping at a high spatial resolution (3.72µm) with a dynamic range of 1 - 30 mN and an accuracy of ±1.3 mN. We also demonstrate tracking and mapping of an external force moving across the sensor array. We further reduce the footprint of MichTac by devising an electrically driven version. The functionality of the proposed tactile sensor was verified both numerically and experimentally.After proof-of-concept experiments and numerical calculations are performed we calibrate the MichTac to measure the absolute magnitude and direction of an applied shear force without the need for any post-processing of data or finite element analysis. Calibration of the tactile sensor used a commercial force/torque (F/T) sensor. 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.Lastly, we use MichTac to perform real-world tactile sensing and perceptions tasks. The MichTac sensor decodes micro-scale messages (200 µm) like a robotic Braille reader, detects micro leaks in pipes, and achieves tactile perception within a region which simulates the hull of the International Space Station, a high vacuum (10-6 Torr) cryogenic (-196 ºC) environment. What sets this innovation apart is its incredible sensitivity, adaptability, and resilience. Its compact size and numerous sensing elements enable seamless integration into diverse applications, from artificial skins to expansive robotic systems. Furthermore, the sensor employs a sophisticated method of measuring intensity changes, adapting dynamically to different surfaces and maintaining accuracy even in the face of potential damage. In essence, our MichTac sensor provides a novel and robust method for tactile perception. Opening new frontiers in medicine, industry, and beyond, it enables robots with superhuman touch to comprehend, manipulate, and navigate the world.
- 일반주제명
- Nanotechnology
- 일반주제명
- Electrical engineering
- 일반주제명
- Robotics
- 키워드
- Tactile sensing
- 키워드
- Gallium nitride
- 키워드
- Nanopillars
- 기타저자
- University of Michigan Electrical and Computer Engineering
- 기본자료저록
- Dissertations Abstracts International. 86-03B.
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
008250123s2024 us c eng d■001000017164503
■00520250211153010
■006m o d
■007cr#unu||||||||
■020 ▼a9798384044772
■035 ▼a(MiAaPQ)AAI31631446
■035 ▼a(MiAaPQ)umichrackham005772
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a620.5
■1001 ▼aDvorak, Nathan.
■24510▼aTactile Sensing Based on Gallium Nitride Light-Emitting Diodes
■260 ▼a[Sl]▼bUniversity of Michigan▼c2024
■260 1▼aAnn Arbor▼bProQuest Dissertations & Theses▼c2024
■300 ▼a125 p
■500 ▼aSource: Dissertations Abstracts International, Volume: 86-03, Section: B.
■500 ▼aAdvisor: Ku, Pei-Cheng.
■5021 ▼aThesis (Ph.D.)--University of Michigan, 2024.
■520 ▼aIn this dissertation we propose and demonstrate a novel tactile sensor, MichTac. MichTac uses gallium nitride (GaN) light-emitting diodes (LED) nanopillars. Tactile sensing modes demonstrate shear force measurement in ambient and extreme conditions, contact patch measurement, force mapping, high frequency response, tactile morse code reading, and liquid leak detections. MichTac detects tactile sensation by monitoring the shear force applied on the nanopillars. This shear force causes the electrons and holes to separate in the radial direction and reduces the light intensity emitted from the nanopillars. We developed a toolkit to custom-design MichTac based on the intended application.We demonstrate MichTac's directional sensitivity and capability of mapping at a high spatial resolution (3.72µm) with a dynamic range of 1 - 30 mN and an accuracy of ±1.3 mN. We also demonstrate tracking and mapping of an external force moving across the sensor array. We further reduce the footprint of MichTac by devising an electrically driven version. The functionality of the proposed tactile sensor was verified both numerically and experimentally.After proof-of-concept experiments and numerical calculations are performed we calibrate the MichTac to measure the absolute magnitude and direction of an applied shear force without the need for any post-processing of data or finite element analysis. Calibration of the tactile sensor used a commercial force/torque (F/T) sensor. 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.Lastly, we use MichTac to perform real-world tactile sensing and perceptions tasks. The MichTac sensor decodes micro-scale messages (200 µm) like a robotic Braille reader, detects micro leaks in pipes, and achieves tactile perception within a region which simulates the hull of the International Space Station, a high vacuum (10-6 Torr) cryogenic (-196 ºC) environment. What sets this innovation apart is its incredible sensitivity, adaptability, and resilience. Its compact size and numerous sensing elements enable seamless integration into diverse applications, from artificial skins to expansive robotic systems. Furthermore, the sensor employs a sophisticated method of measuring intensity changes, adapting dynamically to different surfaces and maintaining accuracy even in the face of potential damage. In essence, our MichTac sensor provides a novel and robust method for tactile perception. Opening new frontiers in medicine, industry, and beyond, it enables robots with superhuman touch to comprehend, manipulate, and navigate the world.
■590 ▼aSchool code: 0127.
■650 4▼aNanotechnology
■650 4▼aElectrical engineering
■650 4▼aRobotics
■653 ▼aTactile sensing
■653 ▼aGallium nitride
■653 ▼aLight-emitting diodes
■653 ▼aNanopillars
■690 ▼a0544
■690 ▼a0652
■690 ▼a0771
■71020▼aUniversity of Michigan▼bElectrical and Computer Engineering.
■7730 ▼tDissertations Abstracts International▼g86-03B.
■790 ▼a0127
■791 ▼aPh.D.
■792 ▼a2024
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T17164503▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
