Abstract
This paper presents a local active tactile sensor with fluid for measuring hardness and surface conditions such as slimy, smooth, and others. This sensor is made of a silicone balloon catheter. The balloon is contacted with a soft object and expanded by using liquid. In the process of the expansion, the balloon pushes the object and the contact surface slips or fixes. This phenomenon depends on hardness and surface conditions of the object. The expansion can be evaluated by measuring the flow of the liquid. Experiments using the sensor are carried out on soft samples with various hardness and surface conditions. Results show that the sensor has a potential to measure these tactile information. Furthermore, the balloon that is the sensing element is very soft and flexible and does not need electricity. This sensor is available as a medical sensor since it provides safety for tissues.
