Abstract
At the fields of robotics, many types of sensor that is responsible to shear force as well as normal force have developed. Our improved haptic MCF rubber by combining metal particles in balloon crude rubber has high sensitivity for subtle normal and shear forces, and becomes suitable sensor for convex shape. Therefore, we proposed the technique to read convex shape by the MCF rubber sensor attached on a finger of a robot. The sensor has the response of the electric current flowing inner the MCF rubber to the shear and normal forces. The MCF rubber is also rapped by silicone oil rubber with fingerprint. The sensing depends on the shape of fingerprint. Because of the bending state of the sensor installed on the robot finger surface, the sensing enhances. We also experimentally clarified the response to the convex shape such as Japanese Braille by settling multi electrodes inner the sensor.
