2A2-O04 High-Speed and High-Sensitiveity Sensor for Slip Detection : Examination of Slip Detection Mechanism(Tactile and Force Sensing (1))

Slip detecting tactile sensors are essential to achieving a human-like gripping motion with a robot hand. Up until now, we have proposed flexible, thin and lightweight slip sensor utilizing characteristics of pressure conductive rubber. When an object slides on the surface of our slip sensor, the complex output change occurs. By using this output change, this sensor can distinguish between the object slip and the normal force change. But, the mechanism of the complex voltage change is unclear. So, in this paper, we will observe the slip surface of an acrylic plate and the rubber with a high-speed camera. And, we report on the sensor output and the relation to the sensor output and the state of rubber.