Abstract
Tactile sensors are essential for robotic systems to safely and effectively interact with the environment and humans. In particular, tri-axis tactile sensors are crucial for dexterous robotic manipulations by providing shear force, slip, or contact angle information. The soft inductive tactile sensor (SITS) is a new type of tactile sensor that measures inductance variations caused by eddy-current effect. In this paper, we present a soft tri-axis tactile sensor using the configuration of four planar coils and a single conductive film with a hyperelastic material in between them. The working principle is explained and the design methods are outlined. A 3-D finite-element model was developed to characterize the tri-axis SITS and to optimize the target design through parameter study. Prototypes were fabricated, characterized, and calibrated, and a force measurement resolution of 0.3 mN is achieved in each axis. Demonstrations show that the sensor can clearly measure light touch (a few mN normal force) and shear force pulses (10–30 mN) produced by a serrated leaf when it is moved across the sensor surface. The presented sensor is low cost, high performance, robust, durable, and easily customizable for a variety of robotic and healthcare applications.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
