Abstract
This paper presents the detection of sliding with integrated piezoelectric vibration tactile sensors. A tactile sensor is important for robotics to find a mechanical pressure and contact condition between grippers and objects. We have proposed the piezoelectric vibration-type tactile sensors to realize a high sensitivity and a wide measurement range. This type of tactile sensor is proposed by embedding the piezoelectric vibration sensors in a PDMS basis for stable responses. The basic experiment of sliding detection is also presented using proposed tactile sensor between the aluminum protrusion and the sensor surface covered by soft-material to detect the sliding and its direction.
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