title: A table-shaped tactile sensor for detecting triaxial force on the basis of strain distribution.
abstract: A slim and flexible tactile sensor applicable to the interaction of human and intelligent robots is presented. In particular, a simple sensing principle for decoupling of three-dimensional force is proposed. Sensitivity of the proposed tactile sensor is tested experimentally. To improve the sensitivity of the sensor, a table-shaped sensing element was designed. Table-shaped structure can convert an external acting force into concentrated internal stress. A "triaxial force decoupling algorithm" was developed by combining two-dimensional mapping data calculated by finite element analysis. The sensor was calibrated under normal and tangential forces. The external loads applied to the sensor could be decoupled independently as a function of the strain-gauge responses.
authors.affiliation: Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya 464-8603, Japan. lee.jeong-il@f.mbox.nagoya-u.ac.jp.
authors.forename: Jeong Il
authors.initials: JI
authors.lastname: Lee
authors.forename: Min-Gyu
authors.initials: MG
authors.lastname: Kim
authors.forename: Mitsuhiro
authors.initials: M
authors.lastname: Shikida
authors.forename: Kazuo
authors.initials: K
authors.lastname: Sato
mesh_terms: D006801:Humans; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*; D013314:Stress, Mechanical; D014110:Touch / Q000502:physiology*