Compliant-skin tactile sensor

A new design of robot tactile sensor is described which features a highly compliant structure. Sensor compliance accommodates a degree of inaccuracy in robot positioning, aids stable grasping and resists damage. Silicone rubber sheet forms the outer skin of the sensor which is supported by a core of polyurethane foam. Contact with external objects causes bending and stretch in the silicone rubber skin and this is detected by conductive rubber strain gage elements attached to the inner surface of the skin. The sensor construction is described and results obtained using prototype versions of the sensor are presented.