Abstract:
Multimodal tactile sensors typically use MEMS accelerometers with a high bandwidth
and low force sensing range, along with pressure sensors with a low bandwidth
and high force sensing range. These sensors are typically molded into an isotropic
body with an anthropomorphic shape, providing uniform surface properties for robust
grasping and preventing slippage by detecting friction-induced vibrations at the
contact point with an object. However, when exploring or passing an object to an
operator, a light contact with low friction is preferred. To address this issue, we developed
a variable friction tactile sensor that incorporates contact areas dedicated to
accelerometers and contact areas for force sensors. Our experimental results demonstrate
the effectiveness of this approach in exploring the environment and detecting
slip.