抄録
At the fields of robotics and sensing for artificial arm and artificial leg, the sensor 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 for 0.01 N order normal force. The MCF rubber is rapped by silicone oil rubber with fingerprint as a sensor. The sensor has the response of the electric current flowing inner the MCF rubber to the shear, the normal forces and crook motion. In the present, we dealt with the walk and pushup motions of robot having the MCF rubber sensor as the case of active work by normal force on the sensor. We clarified the effects of fingerprint, thickness of the MCF rubber, thickness and softness of the silicon oil rubber cover, and position of electrodes on the electric current flowing inner the MCF rubber.
