Design of slip detection sensor for artificial skin

摘要

A tactile sensor for slip detection is necessary for human- like grasping in robot hand. This paper reports a capacitive tactile slip sensor that can detect slip on the surface of the sensor structure. The newly developed capacitive slip sensor uses acrylo-nitrile butadiene rubber (NBR) as substrate. The presented sensor device in this paper has fingerprint - like structures that are similar with the role of the human's fingerprint. Movement of the structure that attached on surface of substrate arise capacitance changes, and these are used to detect slip. We carried out slip experiment by prototype of capacitive slip sensor and slip was successfully detected.