In this paper, an active tactile sensor system for measurement of Young’s modulus and viscosity is developed. For the active sensing, the sensor unit with the 8 bimorph piezoelectric array is bonded to the speaker that is driven by a square wave. The transient response from the sensor signal of each bimorph piezo cell is processed to reduce the noise. From the output, the first peak and the ratio of first peak to time of first peak are extracted as the indexes for the measurement of Young’s modulus and viscosity, respectively. It is confirmed that the first peak has a clear correlation with the Young’s modulus, and that the ratio of first peak to time of first peak has a definite correlation with the viscosity. Further, the initial contact force affects the sensitivities of Young’s modulus and viscosity.

中文翻译：

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通过使用双压电晶片压电阵列来测量硬度和粘度的触觉传感器

在本文中，开发了一种用于测量杨氏模量和粘度的主动触觉传感器系统。对于主动感测，将具有8个双压电晶片压电阵列的传感器单元绑定到由方波驱动的扬声器。处理来自每个双压电晶片单元的传感器信号的瞬态响应，以降低噪声。从输出中，提取第一峰和第一峰与第一峰的时间之比作为分别用于测量杨氏模量和粘度的指标。可以确定的是，第一峰与杨氏模量具有明显的相关性，并且第一峰与第一峰的时间之比与粘度具有明确的相关性。此外，初始接触力影响杨氏模量和粘度的灵敏度。