Abstract
This paper proposes whole-body tactile sensing by a force sensor using soft material at contact areas. The previous method proposed by authors has used rigid materials at contact areas. In term of safe assurance, the material should have character to absorb a shock. Hence we use urethane sponge at contact areas and in the case of whole-body tactile sensing using the soft material, calculate the contact point. First, the relationship between external force and displacement of the urethane sponge is measured. Second, whole-body tactile sensing using soft material at contact areas is verified. Finally, this paper presents compensation for transformation of the soft material and verified its validity.
