3D Printed Capacitive Pressure Sensing Sole for Anthropomorphic Robots

摘要

This paper presents a newly designed, 3D printed pressure sensitive sole to obtain the tactile- sensing data from humanoid foot during standing or walking. The device was tested for high amounts of pressure that are typical during walking of an anthropomorphic robot. The capacitive pressure sensor embedded in the sole was obtained by 3D printing of the conductive flexible electrodes and a two-part rubber as the dielectric with microbubbles to increase the sensitivity. The 3D printed sensor was fabricated simultaneously with its packaging to increase its durability. The sensor was tested both for static and dynamic conditions and the average sensitivity was found to be 0.0004 KPa <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">-1</sup> . The proof-of-concept device showed good response when it was stepped upon –thus proving its applicability for applications with large load or pressures.