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JRM Vol.32 No.2 pp. 297-304
doi: 10.20965/jrm.2020.p0297
(2020)

Paper:

Tactile Sensor with High-Density Microcantilever and Multiple PDMS Bumps for Contact Detection

Tomoya Fujihashi, Fumitoshi Suga, Ryoma Araki, Jyun Kido, Takashi Abe, and Masayuki Sohgawa

Niigata University
8050 Ikarashi 2-no-cho, Nishi-ku, Niigata 950-2181, Japan

Received:
October 27, 2019
Accepted:
March 18, 2020
Published:
April 20, 2020
Keywords:
tactile sensor, microcantilever, PDMS bumps, contact detection, gripping control
Abstract

In the study, we investigated a detection method of partial contact of an object owing to curved or uneven surface of the contact object by a tactile sensor. The sensor is developed using three microcantilevers embedded in a polydimethylsiloxane (PDMS) bump. First, three bumps were employed to place a bump for each cantilever. It was possible to detect a contact position because the resistance change in the strain gauge on the cantilever under each bump significantly depended on the contact/non-contact state of each bump. Second, a tactile sensor with high-density arrangement of microcantilevers was used to detect partial or tilted contact situations. The results indicated that the output of a tactile sensor with high-density arrangement of microcantilevers reflected partial or tilted contact. It is suggested that a tactile sensor with multiple bumps and high-density microcantilevers allows for more dexterous gripping control based on the shape of the object and contact angle.

Detection of partial contact with tilting

Detection of partial contact with tilting

Cite this article as:
T. Fujihashi, F. Suga, R. Araki, J. Kido, T. Abe, and M. Sohgawa, “Tactile Sensor with High-Density Microcantilever and Multiple PDMS Bumps for Contact Detection,” J. Robot. Mechatron., Vol.32 No.2, pp. 297-304, 2020.
Data files:
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Last updated on Mar. 04, 2024