|
| Year | Author/Ref. | Transducer method | Array
number of elements | Material
type | Force/pressure
sensitivity or resolution N | Force/pressure
sensitivity or resolution range N | Application | Limitations |
Advantages |
Weakness |
|
| 2013 |
Asadnia et al. [18] | Piezoelectric | | Liquid crystal polymer |
3 mms−1 (No) | — | Underwater sensing (autonomous) | (i) Detect very low frequency (down to 0.1 Hz) in water
(ii) High resolution (3 mms−1)
(iii) Self-powered and passively sense underwater objects | (i) Applied underwater |
|
| 2012 | Aqilah et al. [19] | Resistive | | Conductive rubber | 15 kg/cm2 (No) | — | Robotic hand | (i) Flexibility and stretchability
(ii) Linearity | (i) Need external power
(ii) Maximum pressure is low |
|
| 2010 | Choi [4] | Strain gauge | | Polymer | 206.6 mV (No)
70.1 mV (Sh) | 0–0.8 (No), (Sh) | Dexterous manipulation (robotic fingertip) | (i) Measure normal and shear loads simultaneously | (i) Low force capacity (0.6 N) |
|
| 2009 | Noda et al. [20] | Piezoresistive | — | Silicon rubber | 0.01% (No)
0.1% (Sh) | 0.05–3 (No)
0.05–3 (Sh) | Dexterous manipulation (robotic application) | (i) High sensitive sensor | (i) Complex design
(ii) Inflexibility |
|
| 2008 | Lee et al. [9] | Capacitive | | Polymer | 2.5% mN (-axis)
2.9% mN (-axis)
3.0% mN (-axis) | 0–0.01 (No), (Sh) | Artificial robotic limbs | (i) Measure normal and shear force distribution | (i) Nonuniform gap between electrodes |
|
| 2006 | Takao et al. [7] | Piezoresistive | | Silicon | 0.5–1 V/N (No) | 0.021–0.176 (No) | Tactile image sensor (robotic fingertip) | (i) High spatial resolution (0.42 mm)
(ii) Large scale sensing array | (i) Complex design |
|
| 2005 | Shan et al. [21] | Piezoresistive | | Elastic rubber | 228 mV/N (No)
34 mV/N (Sh) | 0–2 (No) | Nonplanar surfaces (tactile sensor skin) | (i) Detect three-dimensional force
(ii) Good flexibility and taped on nonplanar surface | (i) Large area skin with low density of receptors |
|
| 2000 | Kane et al. [8] | Piezoresistive | | Polysilicon | 1.59 mV/KPa (No)
0.32 mV/KPa (Sh) | 0–35 KPa (No)
0–60 KPa (Sh) | Tactile imaging and perception (robotic application) | (i) High resolution shear and normal force
(ii) Stress | (i) Sensor array is high ()
(ii) Need complex signal condition circuit |
|
| 1997 | Rey et al. [10] | Capacitive | | Silicon | 0.3 bars (No) | — | Fingerprint
recognition
(sensor application) | (i) Low cost
(ii) Simple construction | (i) Low resolution (0.05 mm)
(ii) Measure normal force only |
|
| 1992 | Fiorillo [22] | Ultrasonic | — | Ferroelectric polymer | 3 mm (No) | — | Robotic gripper | (i) Operate at higher frequencies | (i) Low resolution (<3 mm)
(ii) Absorption of the ultrasonic signal in air |
|
