Multifunctional active tactile sensor using magnetic micro actuator

This paper proposes a multifunctional tactile sensor device driven by magnetic force. The device has the advantage that it can detect multiple physical values, such as contact-force and the elastic and damping coefficients of a contacted object. We previously used an external pneumatic system for actuating the device, and confirmed it can measure the elastic-coefficient of an object. This time, we realized hybrid active tactile sensor system by assembling a magnetic driving mechanism for detecting multiple physical values. We also developed a theoretical model of the detection, and experimentally confirmed both elastic and damping coefficient detection by using different types of silicone rubbers as samples.