2012 Volume 12 Issue 4 Pages 308-314
At the fields of robotics and sensing for artificial arm and artificial leg, the rubber that is able to response for shear force as well as normal force was developed. The developed haptic MCF rubber by combining metal particles in balloon crude rubber has high quality of sensing at 0.01 N ordered force. From the high sensitivity, the MCF rubber can respond to the shear force. By rapping the MCF rubber with a silicon oil rubber whose one surface has fingerprint, MCF rubber sensor was made. The present study clarifies the effect of the fingerprint on the electric current flowing inner the MCF rubber. The effect is changed by shape and thickness of the fingerprint, elasticity of the silicon oil rubber, and initial normal force on the rubber sensor. We obtained the optimal shape of the fingerprint.
