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

Paper:

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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

Received:
November 4, 2015
Accepted:
March 12, 2016
Published:
June 20, 2016
Creative Commons License
Keywords:
flexible tactile sensor array, pressure conductive rubber, three-axis force, slip detection, discrete wavelet transform
Abstract
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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