Development of Tactile Sensor for Detecting Contact Force and Slip

접촉력 및 미끄러짐을 감지 가능한 촉각 센서의 개발

  • 최병준 (성균관대학교 대학원 기계설계학과) ;
  • 강성철 (한국과학기술연구원 지능로봇센터) ;
  • 최혁렬 (성균관대학교 기계공학부)
  • Published : 2006.04.01


In this paper, we present a finger tip tactile sensor which can detect contact normal force as well as slip. The sensor is made up of two different materials, such as polyvinylidene fluoride (PVDF) known as piezoelectric polymer, and pressure variable resistor ink. In order to detect slip on the surface of the object, two PVDF strips are arranged along the normal direction in the robot finger tip and the thumb tip. The surface electrode of the PVDF strip is fabricated using silk-screening technique with silver paste. Also a thin flexible force sensor is fabricated in the form of a matrix using pressure variable resistor ink in order to sense the static force. The developed tactile sensor is physically flexible and it can be deformed three-dimensionally to any shape so that it can be placed on anywhere on the curved surface. In addition, a tactile sensing system is developed, which includes miniaturized charge amplifier to amplify the small signal from the sensor, and the fast signal processing unit. The sensor system is evaluated experimentally and its effectiveness is validated.


PVDF piezoelectric polymer;Pressure variable resistor ink;Tactile sensor;Signal Processing;Robot hand


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