A highly stretchable tactile distribution sensor for smooth surfaced humanoids

Stretchable tactile distribution sensors are significantly important in realizing natural and rich tactile interactions for next generation humanoids with soft and smooth surfaces. We have developed such a sensor which has no wiring in most of the sensing area and is based on inverse problem technique - EIT. At first, we show the ability of the sensor to detect novel and rich tactile interactions involving skin deformation such as pinching and rubbing. Furthermore, by using our newly developed conductive knitted fabric, we demonstrate how the sensor can be extremely useful for sensing pressure distributions as well as for covering complex 3D surfaces such as the face. Also, we show a successful implementation of the highly stretchable sensor over movable joints, the repeatability of the sensor value against joint movements and the detectability of external tactile stimuli for various joint angles are also demonstrated.