Assessment of Soft Artificial Skin with Pressure Sensibility Southeastern Louisiana University

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

Overview Previous Semester Current Semester Research of skin material Research FSR Order material Preliminary testing Cured multiple skin sample 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 Overview

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

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 Materials

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

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. FSR Sensor A201

Voltage Divider

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. Design

Spring Constant Testing on the Synthetic Material Omega 2408-24O DAQ LC201-300N Sensor Load Cell PT3/M -25 mm XYZ Translation Stage Omega DMD4059 Bridge/Strain Gage Signal Conditioner Spring Constant Testing on the Synthetic Material

Past Deliverables Task: Dates: Progress: Research Silicone Solution 1/29/2015 Completed Research De-Gassing Chamber and Pump 2/05/2015 Order Silicone Solution 3/05/2015 Order Chamber and Pump   Order Homogenizer Research FSR sensor 2/10/2015 Find team members 3/9/2015 Set-up work area 3/12/2015 Set-up De-Gassing Chamber 3/18/2015 Set-up Homogenizer Test Pump 3/20/2015 Cure Skin Proto-types batch 1 Test Skin Proto-types batch 1 4/3/2015 Cure Skin Proto-types batch 2 4/15/2015 Test Skin Proto-types batch 2 4/21/2015 Order Dragon Skin – Soft Research FSR Implementation 4/28/2015 Past Deliverables

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

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

LED display

Q & A?

Works Cited