Stretchable tiny stress tactile sensor based on capacitor array

Abstract

Tactile sensor, as a novel intellisense technology, has been widely used in robot system. In the paper, polydimethylsiloxane (PDMS), as elastic materials substrate, was introduced in traditional tactile sensor to form a capacitor array sensor. The proposed sensor is stretchable to meet application demand, such as fitting the complex curve. The two kinds of flexible capacitive tactile sensors are investigated, respectively with involute circle model and parallel plate model. Testing results show that these two kinds of tactile sensors have high sensitivity under tiny stress and can withstand 260% deformation.