Title :
A tactile sensor sheet using pressure conductive rubber with electrical-wires stitched method
Author :
Shimojo, Makoto ; Namiki, Akio ; Ishikawa, Masatoshi ; Makino, Ryota ; Mabuchi, Kunihiko
Author_Institution :
Univ. of Electro-Commun., Tokyo, Japan
Abstract :
A new type of tactile sensor using pressure-conductive rubber with stitched electrical wires is presented. The sensor is thin and flexible and can cover three-dimensional objects. Since the sensor adopts a single-layer composite structure, the sensor is durable with respect to external force. In order to verify the effectiveness of this tactile sensor, we performed an experiment in which a four-fingered robot hand equipped with tactile sensors grasped sphere and column. The sensor structure, electrical circuit, and characteristics are described. The sensor control system and experimental results are also described.
Keywords :
pressure sensors; robots; rubber; tactile sensors; electrical-wires stitched method; flexible sensor; pressure conductive rubber; sensor control system; single-layer composite structure; tactile sensor sheet; Fabrics; Mechanical sensors; Prototypes; Robot kinematics; Robot sensing systems; Rubber; Sea surface; Sensor phenomena and characterization; Tactile sensors; Wires; Flexible sensor; pressure-conductive rubber; tactile sensor; wire stiching;
Journal_Title :
Sensors Journal, IEEE
DOI :
10.1109/JSEN.2004.833152
