Review Article
Pressure Sensor: State of the Art, Design, and Application for Robotic Hand
Table 1
Relative merits and demerits of various tactile sensor types [
17].
| Type | Merits | Demerits |
| Resistive | (i) Sensitive (ii) Low cost | (i) High power consumption (ii) Generally detect single contact point (iii) Lack of contact force measurement |
| Piezoresistive | (i) Low cost (ii) Good sensitivity (iii) Low noise (iv) Simple electronics | (i) Stiff and frail (ii) Nonlinear response (iii) Hysteresis (iv) Temperature sensitive |
| Tunnel effect | (i) Sensitive (ii) Physically flexible | (i) Nonlinear response |
| Capacitive | (i) Sensitive (ii) Low cost (iii) Availability of commercial A/D chips | (i) Hysteresis (ii) Complex electronics |
| Optical | (i) Physically flexible (ii) Sensitive (iii) Fast (iv) No interconnections | (i) Loss of light by micro bending chirping (ii) Power consumption (iii) Complex computations |
| Ultrasonic | (i) Fast dynamic response (ii) Good force resolution | (i) Limited utility at low frequency (ii) Complex electronics (iii) Temperature sensitive |
| Magnetic | (i) High sensitivity (ii) Good dynamic range (iii) No mechanical hysteresis (iv) Physical robustness | (i) Suffer from magnetic interference (ii) Complex computations (iii) Somewhat bulky (iv) Power consumption |
| Piezoelectric | (i) Dynamic response (ii) High bandwidth | (i) Temperature sensitive (ii) Not so robust electrical connection |
| Conductive rubber | (i) Physically flexible | (i) Mechanical hysteresis (ii) Nonlinear response |
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