CHARGE AMPLIFIER DESIGN METHODOLOGY FOR PVDF-BASED TACTILE SENSORS

This paper proposes and describes a charge ampli¯er-based interface electronics design methodology approach for piezoelectric polymer tactile sensors to be used for humanoid robot applications. The tactile sensor–consisting of a PVDF single sensor element–is illustrated, the electromechanical thickness mode behavior is modeled and a fabricated prototype is presented. The model allows associating the PVDF charge response to the e®ective load applied on the outer surface of the sensor. The model is also used as a key in the proposed design methodology to estimate the charge to be detected by the charge ampli¯er. A case study based on the design methodology approach is reported. The system (PVDF single taxel þ interface electronics) is analyzed ¯rstly, considering it as ideal and then when the nonidealities come into play. A charge ampli¯er-based interface electronics prototype is also presented. The implementation is used to validate the followed approach and then de¯ning the design specs towards the dedicated IC design. Some experimental results are also reported.