Abstract
This paper presents the development of an active tactile sensor using fluid. Measurement of stiffness and surface conditions, such as sliminess, smoothness, and others, of soft objects is discussed. This sensor is made of a silicone balloon catheter. The balloon is contacted with a soft object and expanded by using fluid. In the process of the expansion, the balloon pushes the object and the contact surface of the balloon slips or sticks. These phenomena depend on stiffness and surface conditions of the object. The expansion can be evaluated by measuring the flow of the fluid. 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 human. Experimental results on various measurement conditions support the validity of the proposed sensor.
