Low cost tactile gripper using silicone rubber sensor array

Abstract

SUMMARY A low cost tactile sensor using commercially available conductive silicone rubber has been developed. It comprises a two dimensional array arranged in 3 mm centre-to-centre distance. Each sensor element has a zero-force resistance of about 0.3 kohm and it has a logarithmic characteristic curve of resistance versus force. An 8 × 8 prototype tactile sensor array over an area of 3 cm × 3 cm has been fabricated and mounted on the gripper of a robot for testing and evaluation. The associated software has also been developed. The limitations of the sensor are also discussed.