Development of a Small Tactile Sensor for Robot Finger

摘要

This paper presents a new tactile sensor that can detect the vertical force and the shear force. This proposed tactile sensor detects an applied force as a change in electrical resistance in strain gauges attached to the surface. For outputs of this proposed sensor, the interaction occurs structurally, and the hysteresis also occurs since the force applying on the sensor is detected by the strain gauge attached to the surface. However, since the effects of the hysteresis are small and difficult to correct, we disregard the hysteresis, and only correct the interaction. Measurement of the vertical and shear forces applying on this proposed tactile sensor becomes possible after correcting the interaction. The experimental results show that three dimensional forces can measure using this proposed tactile sensor. This proposed tactile sensor has simple structure. Therefore, because of this structure, this tactile sensor can be made easily and realized as small size.