Gabrieleenx/Deformable_Tactile_Sensor2This is the material and guides for the paper "Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity Sensing, Force/Torque and Pressure Map Estimation".
Sensor v2 1 is an open-source printed circuit board by Gabrieleenx, from the Gabrieleenx/Deformable_Tactile_Sensor repository on GitHub. It is a 4-layer board of 82.1 × 32 mm with 90 parts on 136 nets, routed with 1,813 tracks and 292 vias.
It is built around the ESP32-S3-WROOM-1U-N8R2, MLX90393ELW-ABA-011-SP and AMS1117-3.3, with the ESD9B3.3ST5G, 10132797-025100LF and 1N5819HW-7-F-01 among its other parts. Its parts include 50 capacitors, 20 ICs, 8 resistors, 7 diodes and 3 connectors. It belongs with the sensors and measurement boards and the ESP32 boards of this library.
This is the material and guides for the paper "Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity Sensing, Force/Torque and Pressure Map Estimation". You can also find a more popular science presentatin on the entire project https://youtu.be/DqMjxcfm4Ek?si=F0FGEtK1jk1I4O4m
This repo is devided into 3 parts:
A 3D printable version of the gripper used can be found at: https://github.com/Gabrieleenx/Parallel_gripper and the fingers to mount the sensors can be found at "/build_files/fingers_cnc", I CNC them from 6061 aluminium on my own CNC, but they could be ordered from PCBWay.
| Qty | Value | Footprint | References |
|---|---|---|---|
| 26 | 0.1uF | Capacitor_SMD:C_0201_0603Metric | C1, C2, C10, C11, C12, C13, C14, C15, C16, C17, C18, C19, C20, C21, C22, C23 +10 |
| 13 | MLX90393ELW-ABA-011-SP | sensor_v2:QFN50P300X300X100-17N | U2, U3, U4, U5, U6, U7, U8, U9, U10, U11, U12, U13, U19 |
| 7 | 0.1uF | Capacitor_SMD:C_0402_1005Metric | C26, C28, C30, C32, C46, C49, C50 |
| 6 | 10uF | Capacitor_SMD:C_0603_1608Metric | C25, C27, C29, C31, C33, C47 |
| 4 | 100nF | Capacitor_SMD:C_0402_1005Metric | C36, C37, C41, C42 |
| 3 | ESD9B3.3ST5G | sensor_v2:SOD2513X120N | D4, D5, D6 |
| 2 | 10k | Resistor_SMD:R_0402_1005Metric | R7, R8 |
| 2 | 10uF | Capacitor_SMD:C_0402_1005Metric | C38, C43 |
| 2 | 33uF | Capacitor_SMD:C_0805_2012Metric | C35, C40 |
| 2 | 4.7Uf/10v | Capacitor_SMD:C_0603_1608Metric | C34, C39 |
| 2 | 5k1 | Resistor_SMD:R_0402_1005Metric | R5, R6 |
| 2 | 82 | Resistor_SMD:R_0402_1005Metric | R3, R4 |
| 2 | EVQ-P7A01P | sensor_v2:SW_EVQ-P7A01P | S1, S2 |
| 2 | LED | LED_SMD:LED_0805_2012Metric | D2, D3 |
| 2 | PAW3335DB | sensor_v2_project:PAW3335DB_v2 | U16, U18 |
| 1 | 10132797-025100LF | sensor_v2:AMPHENOL_10132797-025100LF | J1 |
| 1 | 10132798-022100LF plug | sensor_v2:AMPHENOL_10132798-022100LF | J2 |
| 1 | 1N5819HW-7-F | sensor_v2:SOD3715X145N | D7 |
| 1 | 1uF | Capacitor_SMD:C_0402_1005Metric | C48 |
| 1 | 3.3K | Resistor_SMD:R_0402_1005Metric | R2 |
| 1 | 74HC154BQ,118 | sensor_v2_project:QFN50P550X350X100-25N410X210 | U1 |
| 1 | 75 | Resistor_SMD:R_0402_1005Metric | R1 |
| 1 | AMS1117-3.3 | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | U15 |
| 1 | ESP32-S3-WROOM-1U-N8R2 | sensor_v2:XCVR_ESP32-S3-WROOM-1U-N8R2 | U20 |
| 1 | PWRLED | LED_SMD:LED_0603_1608Metric | D1 |
| 1 | SN74AXC8T245PWR | sensor_v2_project:SOP65P640X120-24N | U17 |
| 1 | TLV75519PDBVR | Package_TO_SOT_SMD:SOT-23-5 | U14 |
| 1 | USB4215-03-A_REVA | sensor_v2:GCT_USB4215-03-A_REVA | J3 |
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It measures 82.1 × 32 mm and has 4 copper layers, 1.6 mm thick.
90 parts, built around the ESP32-S3-WROOM-1U-N8R2, MLX90393ELW-ABA-011-SP, AMS1117-3.3 and ESD9B3.3ST5G. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
From the Gabrieleenx/Deformable_Tactile_Sensor repository on GitHub, at the commit this page was made from: the board is build_files/PCB/kicad_source/sensor_v2_1.kicad_pcb and its schematic build_files/PCB/kicad_source/5_to_1_9V.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Its repository states no licence, so its author keeps all rights: ask Gabrieleenx before reusing the design.