Tough, bendable and stretchable tactile sensors array for covering robot surfaces

This study proposes a bendable and stretchable tactile sensors array and its data acquisition circuit with the aim of realizing a tough tactile skin for robotic surface. Its pressure sensitive part consists of conductive fabrics and pressure-conductive rubber sheets arranged in a matrix form. The entire pressure sensitive part is covered with silicone rubber, which makes up for not only the weakness to mechanical damage and water wetness but also the lack of restoring force. The data acquisition circuit consists of a small number of electronic components. The experimental result shows that each tactile cell of the sensor can detect normal force of 0.7N ∼ 3N with small hysteresis and high repeatability, the sensor can detect force distribution without inaccurate sensing due to a wraparound current, and the mechanical properties of the sensor are suitable for practical use in tough conditions.