Abstract
This paper reports on a tactile sensor using piezoresistive beams for detection of the coefficient of static friction merely by pressing the sensor against an object. The sensor chip is composed of three pairs of piezoresistive beams arranged in parallel and embedded in an elastomer; this sensor is able to measure the vertical and lateral strains of the elastomer. The coefficient of static friction is estimated from the ratio of the fractional resistance changes corresponding to the sensing elements of vertical and lateral strains when the sensor is in contact with an object surface. We applied a normal force on the sensor surface through objects with coefficients of static friction ranging from 0.2 to 1.1. The fractional resistance changes corresponding to vertical and lateral strains were proportional to the applied force. Furthermore, the relationship between these responses changed according to the coefficients of static friction. The experimental result indicated the proposed sensor could determine the coefficient of static friction before a global slip occurs.
Highlights
A tactile sensor is essential for dexterous manipulation of robot hands [1]
We propose a tactile sensor using piezoresistive beams for detection of the coefficient of static friction
The vertical and lateral strains of the elastomer correlate with the normal force and the coefficient of static friction, respectively
Summary
A tactile sensor is essential for dexterous manipulation of robot hands [1]. In real environments, the parameters regarding manipulation of an object, such as the coefficient of static friction, are unknown; as a result, performing grasping tasks is difficult. Human skin can sense coefficient of static friction by detecting local slips on the contact area between a fingertip and an object surface [7,8] Modeling this ability of human skin, some researchers have attempted to achieve tactile sensors for detection of coefficient of static friction [9,10]. The proposed structure is compatible with fabrication processes of the multi-axial tactile sensor using piezoresistive beams reported previously [16,17]. By combining both sensors, simultaneous detections of multi-axial force and the coefficient of static friction will be achieved. The fabricated sensor was evaluated under conditions of a range of coefficients of static friction
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