Structural design of a polymer-based tactile sensor with a table-shaped sensing pad

Abstract

This paper describes the structural design of a slim and flexible tactile sensor that has a three-dimensional table-shaped sensing part to equip an intelligent robot’s fingertips. We propose a new design approach to improve the performance of the sensor and experimentally demonstrate a full polymer-based tactile sensor that can detect three-dimensionally independent forces with good sensitivity for robot hand manipulation. First, we designed a new type of tactile sensor. To maximize the sensitivity of the sensor, the creation of a uniquely designed table-shaped top-head is attempted. To optimize the conceptual design, various possible strain distributions are examined using a finite element method simulation and experimental design and analysis. Finally, the fabricated sensor was calibrated by applying normal and tangential forces between 0 and 1N. Although the sensor has a simple structure, a multi-function sensor can be used without interference.