Development of microsized slip sensors using dielectric elastomer for incipient slippage

Abstract

A humanoid robot hand has received significant attention in various fields of study. In terms of dexterous robot hand, slip detecting tactile sensor is essential to grasping objects safely. Moreover, slip sensor is useful in robotics and prosthetics to improve precise control during manipulation tasks. In this paper, sensor based-human biomimetic structure is fabricated. We reported a resistance tactile sensor that enables to detect a slip on the surface of sensor structure. The resistance slip sensor that the novel developed uses acrylonitrile-butadiene rubber (NBR) as a dielectric substrate and carbon particle as an electrode material. The presented sensor device in this paper has fingerprint-like structures that are similar with the role of the human’s finger print. It is possible to measure the slip as the structure of sensor makes a deformation and it changes the resistance through forming a new conductive route. To verify effectiveness of the proposed slip detection, experiment using prototype of resistance slip sensor is conducted with an algorithm to detect slip and slip was successfully detected. In this paper, we will discuss the slip detection properties so four sensor and detection principle.