This work presents the development of tactile sensing arrays, inspired by cutaneous sensing in humans, for the fingertips
of a humanoid robot. The tactile sensing arrays have been developed in two phases. Microelectrode arrays (MEA),
having 32 sensing elements - each epoxy adhered with 25μm thick piezoelectric polymer (PVDF-TrFE) film, were
fabricated in the first phase. When connected to the gate of FET devices (external to the chip), each element on MEA
acts like an extended gate; thereby facilitating modulation of charge in the induced channel by the charge generated in
PVDF-TrFE film - as a result of applied force. Thus, each sensing element converts force into voltage. The tactile
sensing arrays developed in second phase work on the same principle but are free from any extended gate. These arrays
(having 25 sensing elements) use POSFET (Piezoelectric Oxide Semiconductor Field Effect Transistors) touch sensing
elements - in which, piezoelectric polymer film is directly spin coated on the gate area of the FET devices. Thus, a
POSFET touch sensing element 'senses and partially processes at same site' - as is done by receptors in human skin. The
spatial-temporal performance of these chips is similar to that of skin in the human fingertips.
Piezoelectric polymers have lossy and dispersive dielectric properties and exhibit higher viscoelastic losses. Due to their
lossy behavior, the lossy models developed for piezoceramics are insufficient for evaluating polymers. In this work we
present a novel SPICE implementation of piezoelectric polymers model which includes the mechanical,
electromechanical and dielectric losses. The mechanical/viscoelastic, dielectric/electrical and
piezoelectric/electromechanical losses have been included in the model by using complex elastic, dielectric and
piezoelectric constants - obtained from measured impedance of PVDF-TrFE sample. The simulated impedance and
phase plots of polymer, working in thickness mode, have been compared with measured data. The impedance and phase
plots have also been compared with those obtained by using the lossy model approaches reported earlier.
The recent progress in both neurobiology and microelectronics suggests the creation of new, powerful tools to investigate the basic mechanisms of brain functionality. In particular, a lot of efforts are spent by scientific community to define new frameworks devoted to the analysis of in-vitro cultured neurons. One possible approach is recording their spiking activity to monitor the coordinated cellular behaviour and get insights about neural plasticity.
Due to the nature of neurons action-potentials, when considering the design of an integrated microelectronic-based recording system, a number of problems arise. First, one would desire to have a high number of recording sites (i.e. several hundreds): this poses constraints on silicon area and power consumption. In this regard, our aim is to integrate-through on-chip post-processing techniques-hundreds of bio-compatible microsensors together with CMOS standard-process low-power (i.e. some tenths of uW per channel) conditioning electronics. Each recording channel is provided with sampling electronics to insure synchronous recording so that, for example, cross-correlation between signals coming from different sites can be performed. Extra-cellular potentials are in the range of [50-150] uV, so a comparison in terms of noise-efficiency was carried out among different architectures and very low-noise pre-amplification electronics (i.e. less than 5 uVrms) was designed. As spikes measurements are made with respect to the voltage of a reference electrode, we opted for an AC-coupled differential-input preamplifier provided with band-pass filtering capability. To achieve this, we implemented large time-constant (up to seconds) integrated components in the preamp feedback path. Thus, we got rid also of random slow-drifting DC-offsets and common mode signals.
The paper will present our achievements in the design and implementation of a fully integrated bio-abio interface to record neural spiking activity. In particular, preliminary results will be reported.
Conference Committee Involvement (3)
Bioengineered and Bioinspired Systems
2 May 2007 | Maspalomas, Gran Canaria, Spain
Bioengineered and Bioinspired Systems II
9 May 2005 | Sevilla, Spain
Bioengineered and Bioinspired Systems
19 May 2003 | Maspalomas, Gran Canaria, Canary Islands, Spain
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