Stretchable liquid tactile sensor for robot-joints

K. Noda*, E. Iwase, K. Matsumoto, I. Shimoyama


研究成果: Conference contribution

41 被引用数 (Scopus)


In this paper, we propose a stretchable tactile sensor composed of a pair of silicone rubber channels filled with electro conductive liquid. When a force was applied to this channel, its length and cross-sectional area deforms. By measuring the resistance change of the electro conductive liquid in the channel, its deformation can be measured. The proposed tactile sensor is composed of two parallel channel filled with electro conductive liquid, therefore, by comparing the resistance changes of each channel to the deformation, only the contacting force can be measured independently. Since a liquid is used for the sensing material, the proposed liquid tactile sensor can be easily attached to movable portions as the joints of robots. In the paper, we measured the sensing characteristics of the liquid tactile sensor to the stretch, bend, and contact force. Finally, the efficiency of the sensor was demonstrated by measuring the contact force from 0 to 3.0N by attaching the 20% stretched liquid tactile sensor to curved surfaces with 0.05mm-1 in curvature.

ホスト出版物のタイトル2010 IEEE International Conference on Robotics and Automation, ICRA 2010
出版ステータスPublished - 2010 8月 26
イベント2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
継続期間: 2010 5月 32010 5月 7


名前Proceedings - IEEE International Conference on Robotics and Automation


Conference2010 IEEE International Conference on Robotics and Automation, ICRA 2010
国/地域United States
CityAnchorage, AK

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学


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