Development of multichannel soft tactile sensors having fingerprint structure

It is possible to accurately recognize the shape of an object or to grip it by setting soft tactile sensors on a robot´s hands. We studied a multichannel soft tactile sensor as an artificial hand and evaluated the pressure´s response performance from several directions and the slipping and sliding responses. The tactile sensor consisted of multiple pneumatic sensors and a soft cap with a fingerprint structure that was made of silicone gum and was separated from multiple spaces. Evaluation tests showed that the multiple soft tactile sensors estimate both an object´s contact force and its contact location. Our tactile sensor also measured the object´s roughness by the slide on surface texture.