ABSTRACT
Many different types of tactile sensors based on conductive rubber, force-switchable diodes, or piezoresistive compounds have been tested. A force transducer using conductive silicone rubber is an effective touch- and force-sensing system. This device employs the changing electrical resistance of contact between an electrode and the conductive silicone rubber component as the two are forced together. The sensor can be made for a single sensitive point or in a matrix form to cover an area that is similar to an artificial skin. Force sensing is done at the interface between the robot and the object being manipulated. The device is responsive enough to drive an analog-to-digital converter over a reasonable range without amplification.
