空気圧を用いて感度と柔軟性を調整可能な永久磁石エラストマー触覚センサの開発

抄録

Tactile sensors enable robots to perceive and interact with environments through touch, yet adaptable sensors remain underexplored. This paper presents a novel design featuring adjustable sensitivity and compliance achieved by varying pneumatic pressure. The sensor consists of a silicone base, a permanent magnet elastomer (PME), and a printed circuit board with magnetic transducers. Experimental results demonstrate sensitivity adjustability, ranging from 0.093 to 0.125 mT/N (X-axis), 0.089 to 0.13 mT/N (Y-axis), and 0.169 to 0.45 mT/N (Z-axis) and compliance adjustability reflected in deformation changes from 3.20 to 3.79 mm.