A Tactile Sensor Sheet Using Pressure Conductive Rubber With Electrical-Wires Stitched Method

TLDR

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.

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.