Verification of Tactile Sensor for Manipulator

This paper describes the basic characteristics of a distributed-type tactile sensor that we developed for a manipulator. To create a dexterous manipulator, it is necessary to acquire reliable force information loaded on manipulator fingertips. In a previous paper, we illustrated that the tactile sensor can detect attached object movement. In this paper, FEM analysis and experiments demonstrate that the principles of the three-axis force sensor, which is a component of the tactile sensor, are applicable. Furthermore, uncertainty analysis reveals that the detected movements of the tactile sensor are precious. Consequently, these results demonstrate that this tactile sensor is available for manipulators.