IEEE Sensors Journal · 2004 · 421 citations · 14 references
EngineeringMaterials ScienceRobotics EngineeringRoboticsSensorsSoft RoboticsMechanical SensorsPressure SensorsRobot SensorsSoft SensorsTactile SensingTactile Sensing For GraspingFingertip Tactile SensingFlexible Tactile SensorsSensor TechnologySoft Tactile SensorsTactile Sensing For ManipulationTactile Sensing For RobotsTactile Sensor DesignTactile Sensors
The study presents a new tactile sensor that uses pressure‑conductive rubber stitched with electrical wires. The sensor is a single‑layer composite of conductive rubber and stitched wires, integrated into a control system, and its structure, circuit, and characteristics were described and tested on a four‑fingered robot hand grasping spheres and columns. The sensor is thin, flexible, conforms to three‑dimensional objects, and its single‑layer composite design provides durability against external force.
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.
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V. Lumelsky, M. S. Shur, S. Wagner · IEEE Sensors Journal · 2001 · 431 citations
Medicine, Dermatology, Immunology +15