Abstract
Although the three-axis tactile sensor is capable of delicate measurement, it is weak for heavy contact force. In order to enhance resistance to a high degree of applied force, we attached a rubber skin onto the sensor surface to protect the sensing element. FEM analyses found that sensitivity is not significantly reduced and that the skin induces subsidiary effects such as the disappearance of insensible areas and the enhancement of stability of the columnar feeler. If the skin is substantially softer than the columnar-conical feeler, the sensor can measure three-axis force without reduction of sensitivity. Based on these simulated results, we produced a columnar-conical feeler-type three-axis tactile sensor with rubber skin. The experimental results show, as demonstrated by FEM analyses, that the sensor possesses three-axis sensing capability and that the insensible area vanishes.
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