title: A Tactile Sensor Using Piezoresistive Beams for Detection of the Coefficient of Static Friction.
abstract: This paper reports on a tactile sensor using piezoresistive beams for detection of the coefficient of static friction merely by pressing the sensor against an object. The sensor chip is composed of three pairs of piezoresistive beams arranged in parallel and embedded in an elastomer; this sensor is able to measure the vertical and lateral strains of the elastomer. The coefficient of static friction is estimated from the ratio of the fractional resistance changes corresponding to the sensing elements of vertical and lateral strains when the sensor is in contact with an object surface. We applied a normal force on the sensor surface through objects with coefficients of static friction ranging from 0.2 to 1.1. The fractional resistance changes corresponding to vertical and lateral strains were proportional to the applied force. Furthermore, the relationship between these responses changed according to the coefficients of static friction. The experimental result indicated the proposed sensor could determine the coefficient of static friction before a global slip occurs.
authors.affiliation: Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan. okatani@leopard.t.u-tokyo.ac.jp.
authors.forename: Taiyu
authors.initials: T
authors.lastname: Okatani
authors.affiliation: Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan. takahashi@leopard.t.u-tokyo.ac.jp.
authors.forename: Hidetoshi
authors.initials: H
authors.lastname: Takahashi
authors.affiliation: Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan. noda@leopard.t.u-tokyo.ac.jp.
authors.forename: Kentaro
authors.initials: K
authors.lastname: Noda
authors.affiliation: Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan. takahata@leopard.t.u-tokyo.ac.jp.
authors.forename: Tomoyuki
authors.initials: T
authors.lastname: Takahata
authors.affiliation: Department of Mechanical Engineering, Faculty of Science and Engineering, Toyo University, 2100 Kujirai, Kawagoe-shi, Saitama 350-8585, Japan. matsumoto064@toyo.jp.
authors.forename: Kiyoshi
authors.initials: K
authors.lastname: Matsumoto
authors.affiliation: Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan. isao@i.u-tokyo.ac.jp.
authors.forename: Isao
authors.initials: I
authors.lastname: Shimoyama
keywords: coefficient of static friction; piezoresistive; robotics; tactile sensor