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Vol. 132, Issue 9, September 2011, pp.47-56




Structure Improvement and Simulation Research of a Three-dimensional Force Flexible Tactile Sensor
Based on Conductive Rubber


1,2Shanhong Li, 1,2Xuekun Zhuang, 1,2Fei Xu, 2,3Junxiang Ding,  2Feng Shuang, 2Yunjian Ge

1 Department of Automation, University of Science & Technology of China, Hefei, 230027, China

2 Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, 230031, China

3 Artillery Academy, Hefei, 230027, China

E-mail: lishh@mail.ustc.edu.cn



Received: 28 July 2011 /Accepted: 19 September 2011 /Published: 27 September 2011

Handbook of Laboaratory Measurements book


Abstract: As the development of robot technology, the need for safety in robotic systems is of growing importance. A low-cost, flexible three-dimensional force sensing array based on conductive rubber is presented with application as artificial skin for robot. In this paper, the structure of a three-dimensional force flexible tactile sensor has been improved. The flexible sensor based on the pressure-sensitive conductive rubber can detect a three-dimensional force. Compared with the previous method, information of more nodes is considered in decoupling by using LM algorithm. The simulation indicates that the structure and the decoupling algorithm are feasible for the measurement of the flexible tactile sensor array.


Keywords: Tactile sensor, Three-dimensional force, Conductive rubber, LM algorithm


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