Robust large-area piezoelectric polymer-based collision detection sensor

摘要

Complex high speed autonomous articulations associated with modern large-scale high degree-of-freedom (DOF) robotic arms have a high possibility of collision when integrated into human cooperative environments for human-aid, task automation, and biomedical interfacing. This paper proposes a large area collision detection system utilizing the piezoelectric effect of polyvinylidene fluoride film. The proposed system provides high dynamic range for sensation and robust adaptability to achieve collision detection on complex surfaces in order to augment robotic systems with collision perception. The design allows for increased cohabitation of human and high DOF robotic arms in cooperative environments requiring advanced and robust collision detection systems capable of retrofitting onto deployed and operating robotic arms in the commercial world.