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Published in:
2012 | OriginalPaper | Chapter
Development of Sensorized Arm Skin for an Octopus Inspired Robot – Part II: Tactile Sensors
Authors : Jinping Hou, Richard H. C. Bonser, George Jeronimidis
Published in: Biomimetic and Biohybrid Systems
Publisher: Springer Berlin Heidelberg
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Presented in this paper are two types of contact sensors developed for an octopus inspired robot. The first type was fabricated using QTC pills. The second type is a soft sensor composed of a thin silicone rubber plate sandwiched between two electrolycra sheets. There is a hole at the centre of the silicone plate. Under contact force, both types of sensor transform from insulators to conductors. Sensitivity tests have been carried out. The soft sensor was implemented into the skin prototype and detected contacts with surfaces, whilst remaining relatively insensitive to lateral or longitudinal extension. Its size and sensitivity can be customized according to the requirement of specific applications.