Slipping Detection with Integrated Piezoelectric Vibration Tactile Sensors

摘要

This paper presents the detection of slipping with integrated piezoelectric vibration tactile sensors. A tactile sensor is important for robotics to find a mechanical pressure and contact condition between grippers and objects. We have proposed the integrated piezoelectric vibration-type tactile sensors to realize a high sensitivity and a wide measurement range. Previous sensors were only applied to measure the pressure on the robot gripper. In this paper, the new design of tactile sensor is proposed by embedding the piezoelectric vibration sensors in a PDMS base for slipping detection. The response of the proposed tactile sensor is determined by the one dimensional slipping system experimentally. The basic experiment of slipping detection is also preliminary experimented using fabricated piezoelectric vibration tactile sensor between the metal surface and the sensor surface covered by artificial gel.