Development of high-sensitivity slip sensor using special characteristics of pressure conductive rubber

Seiichi Teshigawara, Kenjiro Tadakuma, Aiguo Ming, Masatoshi Ishikawa, Makoto Shimojo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

35 Citations (Scopus)

Abstract

Even with the eyes closed, humans are able to grip an object with minimal force without such information as the coefficient of friction or the weight. Tactile sensors capable of detecting slippage are necessary for this gripping action to be realized in a robot hand. Heretofore, many slip sensors were developed and produced, but there was not a slip sensor of simple structure practical for installation on fingertips of a robot hand. Therefore, we propose a low-profile/lightweight slip sensor of simple structure. The special properties of pressure conductive rubber are utilized as a detection device in this sensor. In this paper, we discuss the results of trial manufacture and of slip detection property testing of this sensor. Moreover, we will report the results of slip prevention experiments by this prototype slip sensor, and indicate that the pressure conductive rubber is promising as a material of slip sensor.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages3289-3294
Number of pages6
DOIs
Publication statusPublished - 2009 Nov 2
Externally publishedYes
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: 2009 May 122009 May 17

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
CountryJapan
CityKobe
Period09/5/1209/5/17

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Teshigawara, S., Tadakuma, K., Ming, A., Ishikawa, M., & Shimojo, M. (2009). Development of high-sensitivity slip sensor using special characteristics of pressure conductive rubber. In 2009 IEEE International Conference on Robotics and Automation, ICRA '09 (pp. 3289-3294). [5152388] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2009.5152388