Developing tactile sensors for a soft-bodied robot
- Resource Type
- Conference
- Authors
- Hou, Jinping; Bonser, Richard H C; Jeronimidis, George
- Source
- 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on. :1979-1984 Dec, 2012
- Subject
- Robotics and Control Systems
Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Signal Processing and Analysis
- Language
Two types of tactile sensors were developed to detect normal contact for a soft bodied robot inspired by octopus. The first type was fabricated using quantum tunnelling composite (QTC) materials. Under pressure, the material transforms from an insulator to a conductor. Electrolycra was used to connect the QTC pills to wires. The second type of sensor was fabricated using a silicone rubber plate with a hole at the centre sandwiched between two electrolycra sheets. Under contact load, the two electrolycra sheets come into contact and the resistance of the sensor reduces significantly. As both silicone rubber and electrolycra have high elastic strain limit, the second type of sensor is also highly extensible. Sensitivities of the sensors were tested by applying different modes of loading and the soft sensors were incorporated into the skin prototype. An integrated skin prototype with embedded deformable sensors is also presented.