Two Types of flexible tactile sensor arrays of robot for three-dimension force based on piezoresistive effects

Two types of tactile sensor of robot that can measure three-dimension force based on pressure sensitive conductive rubber are proposed. The two effects of the body piezoresistive and the interface piezoresistive of pressure sensitive conductive rubber were researched and compared. A type of single-layer and a type of multi-layer net tactile sensor array of robot according to piezoresistive effects have been designed. We have herein obtained the mathematical models of calculating three dimension forces for two different array structures. The tactile sensor units were made and the change of output resistances of pressure sensitive conductive rubber of sensor array unit have been obtained under the action of three dimensional forces. The experimental results and applications for two tactile sensor arrays were analysed. Results show that the flexible tactile sensor for robot has a simple design, fine flexibility, and can measure the information of three-dimensional force.