抄録
This paper presents a tactile sensor using balloon expansion for measuring stiffness and surface conditions, such as slimy and smooth, of soft objects. For sensing, the balloon is expanded with fluid on an object and the inner pressure of the balloon is measured among the expansion. The sensor is available as a medical sensor since it is friendly to body tissues. In this paper, a sensor probe with a mechanical loading function is developed and sensor system using water as fluid is assembled. Experiments on samples with different stiffness and surface conditions are done. The results show the validity of the sensor.
