Biomedical Engineering Reference
In-Depth Information
Figure 4.2
Expanded view of the tactile sensor unit
3 mm
1.34 mm
Tooth
Silicon
PVDF film
Sensing
element
Substrate
15 mm
Figure 4.3
Cross section of the tactile sensor unit
where
Q
= shear force,
EI =
flexural rigidity (bending modulus) of the beam, and
v
is
the deflection along the
y
-axis of the beam at position
x
of the applied load.
For a given magnitude and position of the applied load on the beam, an expression for
the shear force can be obtained from [12]:
P
sin
h
2
(λl)
−
Q
=
sin
2
(λl)
{
(
sin
h (λx)
sin
(λx)
+
sin
h (λx)
cos
(λx))
}
.(
sin
h (λl)
cos
(λa)
sin
h (λb)
−
sin
(λl)
cos
h (λa)
cos
(λb)
