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Enhancing physical human-robot interaction requires the improvement in the tactile perception of physical touch. Robot skin sensors exhibiting piezoresistive behavior can be used in conjunction with collaborative robots. In past work, fabrication of these tactile arrays was done using cleanroom techniques such as spin coating, photolithography, sputtering, wet and dry etching onto flexible polymers. In this paper, we present an addictive, non-cleanroom improved process of depositing PEDOT: PSS, which is the organic polymer responsible for the piezoresistive phenomenon of the robot skin sensor arrays. This publication details the patterning of the robot skin sensor structures and the adaptation of the inkjet printing technology to the fabrication process. This increases the possibility of scaling the production output while reducing the cleanroom fabrication cost and time from an approximately five-hour PEDOT: PSS deposition process to five minutes. Furthermore, the testing of these skin sensor arrays is carried out on a testing station equipped with a force plunger and an integrated circuit designed to provide perception feedback on various force load profiles controlled in an automated process. The results show uniform deposition of the PEDOT: PSS, consistent resistance measurement, and appropriate tactile response across an array of 16 sensors.

 

Advanced applications for human-robot interaction require perception of physical touch in a manner that imitates the human tactile perception. Feedback generated from tactile sensor arrays can be used to control the interaction of a robot with their environment and other humans. In this paper, we present our efforts to fabricate piezoresistive organic polymer sensor arrays using PEDOT: PSS or poly (3,4-ethylenedioxythiophene)-poly(styrenesulfonate). Sensors are realized as strain-gauges on Kapton substrates with thermal and electrical response characteristics to human touch. In this paper, we detail fabrication processes associated with a Gold etching technique combined with a wet lift-off photolithographic process to implement a circular tree designed sensor microstructure in our cleanroom. The testing of this microstructure is done on a load testing apparatus facilitated by an integrated circuit design. Furthermore, a lamination process is employed to compensate for temperature drift while measuring pressure for double-sided sensor substrates. Experiments carried out to evaluate the performance of the fabricated structure, indicates 100% sensor yields with the updated technique implemented.