Abstract
To prevent the gap falling of object, robot hand need to cover with a flexible sensor to obtain the load, load position, and load direction apply to the robot hand. A newly sensor consists of hemispherical elastic model and a load measurement layer, which is composed of an upper substrate, a lower substrate, and an electric conductive material was developed. Increasing or decreasing the load on the electric conductive material causes its internal resistance to change, allowing the measured voltage change between the upper and lower electrodes to be used to calculate the load applied to the sensor. In this study focused on the normal load applied to the sensor, and the position of normal load applied to sensor was changed, the relationship between normal load, position of normal load and voltage change was investigated.
