抄録
At the fields of robotics and sensing for artificial arm and artificial leg, the sensor that is able to respond for shear force as well as normal force was developed. The haptic MCF rubber developed by combining metal particles in a balloon crude rubber has high quality of sensing for 0.01 N ordered normal force. The MCF rubber is wrapped 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 and the flexural forces. In the present, we dealt with the thrust, rotation and crook motions of robot having the MCF rubber sensor as the case of active work by shear or flexural force on the sensor. We clarified the effects of fingerprint, thickness of the MCF rubber, et al. on the electric current flowing inner the MCF rubber.
