FPGAを用いたMEMS触覚センサのためのパルス密度変換器の開発

抄録

We have been developing a three axis micro MEMS tactile sensor that was inspired from the human sense of touch. The sensor allows to sense pressure and shear force simultaneously. We employed a typical analog wheatstone bridge and amplifier circuit to inquire signal. However, increasing number of tactile sensor elements, size of analog circuit become critical. To solve this problem, we propose unique method that modulates the resistance value into pulse density by an oscillation circuit on FPGA. The proposed method reduces the physical size and power consumption of a signal converter for our tactile sensor.