Design Of Flexible Three Dimension Force Tactile Sensor Based On Pressure Sensitive Conductive Rubber

The research of this paper was supported by National High-tech Research and Development Projects (863) and National Natural Science Foundation of China.This paper was based on the analysis the actuality of flexible three dimension force tactile sensor in and abroad. The three dimension force tactile sensors don't have both softness and the function of three dimension force detect today. Aimed at this difficulty, the flexible three dimension force tactile sensors were designed. The designs make use of the pressure sensitive conductive rubber, which shows a good pressure sensitive characteristic.The paper studies the theory of body piezoresistive and the interface piezoresistive of pressure sensitive conductive rubber. And analyses the characteristic of each of them, and makes contrast of the two piezoresistive. The results show that the interface piezoresistive is more sensitive than the body piezoresistive.The ways of calibration for three dimension force are studied and analysesed. A feasible calibration method is fixed.The paper analyses various ways of three dimension force sensordesign. Using the interface piezoresistive of pressure sensitive conductive rubber, a sensor with three resistors and a sensor with four resistors are designed, including the unit structure and the array structure. The three components of applied force are analyzed for the two designs. The mathematical model of calculating three dimension forces is obtained. And the two sensors are calibrated. The strong points and the weak points are analyzed. The experiment shows the two designs have the advantages of simple structure and excellent practicality. They can be applied to the acquirement of three dimension force information for human robot.