Abstract
This paper is a study on the development of a sensor for measuring tactile sensation. First, touch feelings of fabrics are collected through a questionnaire based on 7 value absolute evaluation. Two touch feelings is evaluated on each different action. Next, an active sensing system using the piezoelectric effect of a PVDF (Polyvinylidene Fluoride) film is assembled. The sensor is attached on the tip of a robot finger driven by a piezoelectric bimorph strip and the root of the finger is mounted on a linear slider. An active sensing, slide, is introduced to collect the information on tactile feelings. Some contact pressure is applied between sensor and fabrics. Measurement using the sensor system is carried out on the fabrics used in the questionnaire. Result of comparison between human feelings and sensor output shows that contact conditions between sensor and fabrics affect their correlation.
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