A Tactile Sensor Instantaneously Evaluating Friction Coefficients

A human can lift up an object with the almost minimum grasping force regardless of the friction coefficient between the fingers and the object, but the sensing mechanism for this remarkable task has not been well explicated yet. Last year we proposed a tactile sensing principle to detect a friction coefficient at the moment of touching. But we have not confirmed that principle with a real sensor yet. In this paper we propose a structure of the sensor and show successful results of friction coefficient detection.

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