Tactile Sensor Skin

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We combined "Nonlinear tactile element" and "Cell-bridge system" to develop a 2x2 sensor array.
CMOS LSI sensor/communication chips are arranged at the boundaries of the sensor elements.
The chips measure the capacitances between the conductive layers and send signals through the same layers.

Fig.1 Robot skin prototype. (Top and bottom views)

Fig.2 Demonstrations.
Force / area measurement. (Demo movie / 3.1 MB)
Contact position estimation. (Demo movie / 1.7 MB)

Release: 12 Nov. 2006
Update: 12 Nov. 2006
Takayuki Hoshi: star(at)alab.t.u-tokyo.ac.jp