Development of micro-wall array tactile sensor with CNT/PDMS composites

Abstract

A tactile sensor with a micro-wall structure has been developed for use in a robot hand, utilizing a combination of polydimethylsiloxane (PDMS) and carbon nanotubes (CNT) to achieve flexibility and conductivity. As the sensor is compressed by the robot hand gripping an object, the distance between the conductive materials shrinks, resulting in decreased sensor resistance. Conversely, if the object slips from the robot hand's grasp, the micro-wall structure of the sensor is deformed, causing a partial relaxation of the internal circuit and resulting in increased resistance. This study demonstrates that the developed sensor can estimate the grasping state of the robot hand and object based on these principles.