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Special Issue: Modern Sensing Technologies

Vol. 90, April 2008, pp. 1-10




Characteristics and Application of CMC Sensors in Robotic Medical and Autonomous Systems


1X. Chen, 2S. Yang, 2H. Natuhara 3K. Kawabe, 4T. Takemitu and 2S. Motojima

1 Department of pure and applied chemistry, Faculty of Science and Technology,

Tokyo University of Science, Yamazaki 2641, Noda, Chiba

2Gifu University, Gifu 501-1193, Japan,

3CMC Tech. Develop. Co. Ltd, Gifu, 509-0108, Japan

4Aska Co. Ltd. Japan

E-mail: xqchen39@hotmail.com, motojima@apchem.gifu-u.ac.jp



Received: 15 October 2007   /Accepted: 20 February 2008   /Published: 15 April 2008


Abstract: Novel CMC tactile/proximity sensors made from carbon microcoils and elastic polymer, polysilicone YE-103.The sensor element can detect applied load by the change of electrical parameters with short response times of 0.3-0.5 s. The electrical resistivity increased logarithmically with increasing the applied load and decreased with increasing the hardness of matrix. The sensitivity of the SE-CMC sensor element was about 1mgf, while the sensibility of conventional capacitive sensors are 13-32pF/100 gf or 200-250V/100 gf accordingly, the SE-CMC sensor elements have three to four orders magnitude higher sensitivity than that of conventional capacitive sensors, The applications of the CMC sensors to medical, robotic, and autonomous system were developed.


Keywords: Tactile sensor; Carbon microcoil; Medical robotics; Minimal access surgery; Autonomous system


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