BioTac Sensor Details_rr

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BioTac Sensor Details

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2011 07 14

Roper Resources Ltd. tel. land (250) 361-9115 | cell (805) 798-0277 [email protected]

Rigid Core

WWW.SynTouchLLC.com [email protected] 213.973.4102

The BioTac® is a revolutionary tactile sensor system from SynTouch LLC. The patented design consists of a rigid core surrounded by an elastic skin filled with a fluid to give a compliance remarkably similar to the human fingertip. The BioTac is the first sensor capable of detecting the full range of sensory information that human fingers can detect: forces, microvi-

incorporated these sensory functions into the device without placing a single sensor in the skin itself. The skin is an easily replaced, low-cost, molded elastomeric sleeve. The sensors, electronic circuitry and connections are protected inside the rigid core, making the BioTac in a class of its own when it comes to robustness.

Elastic Skin

Raw data collected from the BioTac include:

• Voltages of impedance sensing electrodes

(skin deformation)

• Total fluid pressure

• Hydrophonic fluid pressure

(microvibrations on the skin surface)

• Temperature and heat flow

(into contacted objects)

Processing of these data permits extraction of:

• Tri-Axial forces and centroid localization

• Object compliance

• Skin deformation and contour

• Surface texture properties

(roughness and slipperiness)

• Thermal properties

(discrimination between dissimilar materials)


Sensor OutputSensory Modality Range Resolution Sampling Rate Frequency Response

Impedance 0 – 3.3V 3.2 mV 100 Hz 0-50 Hz

Fluid Pressure 0 – 100 kPa 100 Pa 100 Hz 0-50 Hz

Microvibration 0 – 2 kPa (AC) 2 Pa 2000 Hz 20-2200 Hz

Temperature 0 – 80 C 0.1 C 100 Hz 0-50 Hz

Thermal Flux 0 – 1 C/s 0.001 C/s 100 Hz 0.1-50 Hz

SPI Bus Pinout Configuration1 SPI communication: MOSI

2 SPI communication: SS

3 PIC programming: PGD

4 PIC programming: PGC

5 SPI communication: SCK

6 SPI communication: MISO

7 Test Pin

8 PIC programming: /MCLR

9 Power: 3.3V (Output only)

10 Power: 5,0V (Input only)

11 Power: 12V (Input only)

12 Power: GND

Communication ProtocolsThe BioTac is a slave in SPI communications, with a

clockspeed of 1-5 MHz , and with each frame

encompassing 90 bytes:

Byte Number Description

Byte 1-2 Header, read 234

Byte 3-4 Electrode 1



















Byte 41-84 Pressure AC

Byte 85-86 Pressure DC

Byte 87-88 Temperature AC

Byte 89-90 Temperature DC

Circuit Schematic


Circuit Schematic

Effective Force-Sensing PerformanceThe values are based on application of normal forces to production prototypes. Actual values depend on materials

and dimensions that can be adjusted to meet requirements for specific applications. For details of test conditions see:

http://www.syntouchllc.com/TAC_BioRob_08_Final.pdf

http://www.syntouchllc.com/Humanoids_Tactile_Workshop_2009_v4.pdf

Repeatability: <5% within range

Hysteresis: <5% within range

Spatial resolution: <3mm

MaterialsPart Material Weight Remarks

Skin Silicone elastomer 2g Good Wearing

Core Epoxy resin 7g Durable

Fluid PEG-200/ Water blend &

Sodium Bromide 0.3-0.5g Nontoxic

Nail Acrylic 0.5g Top View

Side View

Roper Resources Ltd. tel. land (250) 361-9115 | cell (805) 798-0277 [email protected]

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