Omnidirectional Barometric Tactile Sensor with Cylindrical Shape

Abstract

This paper describes the development of a high-sensitivity, high-dynamic-range barometric tactile sensor that can be mounted on a cylindrical shape and can detect contact in all directions within 360 degrees, for use in robot arms and snake-like robots. As an evaluation experiment using the prototype sensor, a load was applied via a flexible sheet wrapped around the sensor by 180 degrees, and a linear response of the sensor output value was confirmed for tensile loads from 3 gf to 6000 gf.