JRM Vol.28 No.3 pp. 378-385
doi: 10.20965/jrm.2016.p0378


A Flexible Tactile Sensor Array Based on Pressure Conductive Rubber for Contact Force Measurement and Slip Detection

Yancheng Wang*,**, Kailun Xi**, Deqing Mei*,**, Guanhao Liang**, and Zichen Chen**

*State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University
Hangzhou, 310027, China

**Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, Zhejiang University
Hangzhou, 310027, China

November 4, 2015
March 12, 2016
June 20, 2016
flexible tactile sensor array, pressure conductive rubber, three-axis force, slip detection, discrete wavelet transform
Using INASTAMOR pressure-conductive rubber as the sensing material, we developed a flexible tactile sensor array to measure three-axis contact force and slip. The sensor array has 9 (3 × 3) sensing units, each consisting of three layers, i.e., a bottom electrode, conductive rubber chips, a top polydimethylsiloxane (PDMS) bump. We detailed the array’s structural design, working principle, and fabrication process. We also characterize the array’s three-axis force measurement performance. The full-scale force measurement ranges and sensitivities in x-, y-, and z-axes are characterized as 5, 5, 20 N and 0.675, 0.677, 0.251 V/N, respectively. The array is mounted on a prosthetic hand for detecting contact force and slip occurrence in grasping. Results showed that the array measures three-axis contact force and detects slippage by using discrete wavelet transformation. The tactile sensor array has potential applications in robot-hand grasping that require simultaneous slip detection and three-axis contact force measurement.
A wearable tactile sensor array for three-axis contact force measurement and slip detection in prosthetic hand grasping

A wearable tactile sensor array for three-axis contact force measurement and slip detection in prosthetic hand grasping

Cite this article as:
Y. Wang, K. Xi, D. Mei, G. Liang, and Z. Chen, “A Flexible Tactile Sensor Array Based on Pressure Conductive Rubber for Contact Force Measurement and Slip Detection,” J. Robot. Mechatron., Vol.28 No.3, pp. 378-385, 2016.
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Last updated on Sep. 21, 2023