Three-dimensional force flexible tactile sensor based on robot sensitive skin

A method of measure the information of three-dimensional force tactile sensing based on flexible pressure sensitive conductive rubber has been presented. The conductive mechanism and piezoresistivity of flexible pressure sensitive conductive rubber ware analyzed. A new type three dimensional force net array structure of flexible tactile sensor of robot sensitive skin has been designed. The mechanics model of the three-dimensional force has been found. Through experimental study the three-dimensional force based on the tactile sensor units, the change output resistances of pressure sensitive conductive rubber of sensor array unit have been obtained under action of three dimensional forces. All which provided the effective basis for the confirmation experiment result and the new structural design. The results show that pressure-sensitive conductive rubber with fine electrical and mechanical properties for flexible tactile sensors. The robot sensitive skin using this material feels like the skin of human being and measure the information of multi-dimensional force.