Abstract
The aim of this study is to investigate the effect of particles as filler in soft rubber sensors installed in artificial skin. We examine sensors made of natural rubber (NR-latex) that include magnetic particles of Ni and Fe3O4 using magnetic compound fluid (MCF). The 1-mm thickness of the electrolytically polymerized MCF rubber makes production of comparatively thin rubber sensors feasible. We first investigate the effect of magnetic particles Ni and Fe3O4 on the curing of MCF rubber. Next, in order to adjust the electric properties of the MCF rubber, we adopt Al2O3 dielectric particles. We investigate the effect of Al2O3 particles on changes in electric current, voltage and temperature of electrolytically polymerized MCF rubber liquid, and on the electric properties under the application of normal and shear forces. By adjusting the ratio of Ni, Fe3O4, Al2O3 and water in MCF rubber with Al2O3, it is possible to change the electric properties.
Highlights
In robotics, it is sometimes necessary for sensors to be both very soft and extensible, as when they are installed in the artificial skin of robots
We examine the effect of the Al2 O3 particle on electric conductivity, using the same measurement apparatus used in our previous studies [10,11,12]
We first clarified the effect of magnetic compound fluid (MCF), Ni and Fe3 O4 magnetic particles on the curing of electrolytic polymerization of the MCF rubber
Summary
It is sometimes necessary for sensors to be both very soft and extensible, as when they are installed in the artificial skin of robots. We have considered rubber sensors made of silicon oil rubber [9] and NR-latex [10,11,12] that use magnetic compound fluid (MCF), a type of magnetic filler that has electric and magnetic fields. In the case of MCF rubber made of NR-latex, the application of an electric field works to electrolytically polymerize the MCF rubber sufficiently to create high electric conductivity, as shown in our previous studies [10,11,12]. In the case of NR-latex type MCF rubber, the electric conductivity resulting from electrolytic polymerization is added to the tunnel and ion effects described above. The aim of the present study is to develop a soft rubber made of NR-latex for application as a high-haptic sensor in artificial skin. We examine the effect of the Al2 O3 particle on electric conductivity, using the same measurement apparatus used in our previous studies [10,11,12]
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