유전탄성체를 이용한 로봇용 촉각센서의 개발

In this paper, we have proposed the novel tactile sensor using dielectric elastomer. Our sensor can be considered as a capacitive tactile sensor. A capacitive tactile sensor is based on a capacitor, where the dielectric is made of a compliant material so that the capacitance changes due to the strain exerted on the sensor. In the proposed design, capacitive tactile sensor is implemented using commercially available capacitance to digital converter integrated circuits(CDC), commonly used for example in cell phones. When we touch the sensor surface, the CDC detects the variation of a capacitance and we can know the position of touch through the array of electrodes on the surface. In this paper, we describe the structure of the sensor, material, fabrication process, system configuration and experimental results.