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

• Published in: Journal of robotics and mechatronics Vol. 32; no. 2; pp. 297 - 304
• Main Authors: Fujihashi, Tomoya, Suga, Fumitoshi, Araki, Ryoma, Kido, Jyun, Abe, Takashi, Sohgawa, Masayuki
• Format: Journal Article
• Language: English
• Published: Tokyo Fuji Technology Press Co. Ltd 20-04-2020
• Subjects: Contact angle; Density; Polydimethylsiloxane; Sensors; Strain gauges; Tactile sensors (robotics)
• ISSN: 0915-3942; 1883-8049
• DOI: 10.20965/jrm.2020.p0297

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.