Abstract
In this study, the triaxial force tactile sensor, which has 12 sensor elements that can detect vertical force and shear force, was proposed. Here we produced prototype sensor five times larger than those to be used in practice. The sensor elements detect vertical force and shear force as changes in electric resistance on a strain gauge. The measuring accuracy of the sensor element is 5.0%RO in the X and Y axes direction and 2.0%RO in the Z axis direction. Then, the output algorithm that can distinguish and detect translational and rotational slippage was created. Translational and rotational slippages were distinguished by the direction of vector of shear force that acts on each sensor element Translational slippage was detected by the movement of center of pressure, and rotational slippage was detected by evaluating the principal axis of inertia of a contact pattern. Effectiveness of the output algorithm was shown by experiments.
