Piezoelectric and pyroelectric transient signal analysis for detection of the temperature of a contact object for robotic tactile sensing

This paper reports on the transients which occur when a probe at various forces and with various temperatures is applied on a polyvinylidene fluoride (PVDF) sensing film. It is shown that different characteristics are displayed in the transients which depend on both temperature of the probe and applied force by the probe. It is thus shown that double-layered tactile sensors are not necessary for distinguishing piezoelectric and pyroelectric signals from the sensed object. In this study it is also shown that a radiant energy source gives rise to a different transient from that for a contacting heat source. (C) 1998 Elsevier Science S.A. All rights reserved.