Abstract
The electricity-conducting rubber force sensor is an attractive candidate as a low-cost material for tactile sensors. This article shows the evidence that the output reproducibility is largely improved when two identical sheets of the sensors are stacked. The stacked structure may reduce accidental error that is a fatal obstacle in an accurate control system.
Highlights
The electricity-conducting rubber force sensor is an attractive candidate as a low-cost material for tactile sensors
We have been engaged in the development of the electricity-conducting rubber force sensor as a tactile sensor in these years [5], because the conducting rubber sheet is so cheap and easy to handle
We investigated the some kinds of electrodes on the rubber force sensor and found that aluminum deposited in vacuum was suitable because the dynamic range is the largest: until 150 N (44 mm × 44 mm square area)
Summary
The electric-conducting rubber has the structure that conducting particles are dispersed in a rubber matrix. The electrical resistance reduces when the compression force is applied to the rubber sheet, because the path for electrical current forms following the particles are contact each other by the applied force. The goal is the estimation of the applied force on the basis of the output voltage; the latter type is suitable to apply to a force sensor. Our previous research shows that the standard deviation of the output voltage is smallest when the electrode of the sensor is aluminum foil just attached to the rubber sheet. An iron plate was inserted between the weight and the rubber sensor, in order to avoid non-uniform force to be loaded on the sensor. The element of r in the figure corresponds to the rubber sheet sensor, the electric resistance of which varies. The capacitor of 4.9 μF was aimed to shunt high-frequency noise
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