A net-structure tactile sensor covering free-form surface and ensuring high-speed response

Abstract

A tactile sensor is developed with the aim of covering a robot’s entire structure, while reducing wiring requirement and ensuring high-speed response. The sensor detects the center point of load distribution on 2-dimensional surfaces as well as the overall load. There are only 4 signal wires from the sensor. The sensor response time is nearly constant (within 1ms) regardless of the number of detection elements, their placements or sensor areas. In this paper, the principles behind the operation of this sensor and the results of experiments using the sensor are described. Further, a developed tactile element composed of pressure-sensitive materials and chip-resistors is described.