Tactile sensor for simultaneous measurement of shape and surface roughness based on ionic polymer-metal composites

Abstract

The purpose of this study is to develop a tactile sensor based on an ionic polymer-metal composite (IPMC) which can realize simultaneous measurements of surface shape and texture. In this paper, we verify the possibility of simultaneous measurements through experiments. The object shape is estimated by using an observer system based on an identified model of the sensor response. The roughness of the surface texture is estimated by a frequency analysis of sensing signals.