Experimental Discussion of Occurrence of High-Frequency Component on Slip Sensor Output Using Pressure Conductive Rubber
Yosuke Suzuki, Seiichi Teshigawara, Mitsuhiro Chiba,
Takumi Shimada, Aiguo Ming, and Makoto Shimojo
The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan
We have presented a slip sensor that uses pressureconductive rubber to detect initial slip, but have not revealed the principle of high-frequency wave occurrence that is used by this detection. The wave-occurrence principle should be clarified in optimized slip sensor design, especially the properties of pressure-conductive rubber and the detector shape and for reducing individual differences in detection characteristics of the slip sensor. This paper discusses the wave-occurrence principle through a series of experiments and shows that localized fixing and peeling between pressure-conductive rubber and electrodes in the slip sensor configuration have important relation to the principle.
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