Assessment of Soft Artificial Skin with Pressure Sensibility Southeastern Louisiana University

ET 494: Senior Design II Instructor: Dr. Cris Koutsougeras Advisor: Dr. Mohammad Saadeh FALL 2015 James Courtney Energy Engineering Technology Ashley Galvan Computer Engineering Technology Hunter LaFleur Energy Engineering Technology

Overview Previous Semester Research of skin material Research FSR Order material Preliminary testing Cured multiple skin sample Current Semester Evaluate the skin material with pressure sensibility using FSR sensors Design an Array of FSRs Embed final platform design of FSRs with skin. Record data LED display

Purpose The purpose of this project is to receive tactile sensory feedback from the artificial skin- like surface. The feedback will improve control. This growing study can be applied to robotic arms, which can gather information and respond to given external inputs.

Materials Silicone rubber (Dragon Skin 10 MED & SOFT). FSR A201 Vacuum Chamber Kit w/Pump Homogenizer Resistors-100K, 500K, 1M Ohm Arduino Uno, Mega LED’s Acetone Potentiometer-10K Ohm

FSR Theory The equation above is the output from a FSR device.

FSR Sensor A201 Model A201 FSR will be used. It is a piezo resistive force sensor. The harder the pressure, the lower the resistance. The dynamic range of this sensor can be modified by changing the drive voltage and adjusting the resistance of the feedback resistor.

Voltage Divider

Design The design of the project will be a skin platform that consists of an embedded grid of FSRs that are spatially arranged. The platinum silicone will then be poured on top of the grid.

Spring Constant Testing on the Synthetic Material Omega O DAQ LC N Sensor Load Cell PT3/M -25 mm XYZ Translation Stage Omega DMD4059 Bridge/Strain Gage Signal Conditioner

Past Deliverables Task:Dates:Progress: Research Silicone Solution1/29/2015Completed Research De-Gassing Chamber and Pump 2/05/2015Completed Order Silicone Solution3/05/2015Completed Order Chamber and Pump Completed Order Homogenizer Completed Research FSR sensor2/10/2015Completed Find team members3/9/2015Completed Set-up work area3/12/2015Completed Set-up De-Gassing Chamber3/18/2015Completed Set-up Homogenizer Completed Test Pump3/20/2015Completed Cure Skin Proto-types batch 13/20/2015Completed Test Skin Proto-types batch 14/3/2015Completed Cure Skin Proto-types batch 24/15/2015Completed Test Skin Proto-types batch 24/21/2015Completed Order Dragon Skin – SoftCompleted Research FSR Implementation4/28/2015Completed

Task:Dates:Progress: Cure Skin Samples 07/20-8/24/2015Completed Implement FSR and Silicone Solution 8/25/2015Completed Cure Proto-type Implementation8/27-9/4/2015Completed Test Proto-type Implementation9/9/2015Completed Measure and Record Data9/10/2015Completed Implement FSR Grid w/Skin10/15/2015 Completed Cure Skin Platform w/ Grid10/16/2015Completed Test Skin Platform w/Grid10/24/2015 Completed Measure and Record Data10/26/2015~Completed Application w/ Platform 11/15/2015Completed LED Display 12/1/2015 Completed Deliverables

Integrated skin with Sensors 3 x 4 matrix with 12 integrated FSR sensors Implemented in the artificial skin

LED display

Q & A?

Works Cited