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Active tactile sensing of stiffness and surface condition using balloon expansion

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4 Author(s)
Yoshihiro Tanaka ; Nagoya Institute of Technology, Japan ; Kazuki Doumoto ; Akihito Sano ; Hideo Fujimoto

This paper presents the development of a tactile sensor that is friendly to body tissue and measure stiffness and surface conditions such as sliminess. Active tactile sensing by balloon expansion using fluid is proposed. A balloon is contacted with an object and expanded by using fluid. Sensing mechanism is discussed through observation of the balloon expansion and theoretical analysis. Experiments on samples with different stiffness and surface conditions are carried out. The results show applicability of the sensor.

Published in:

2009 2nd Conference on Human System Interactions

Date of Conference:

21-23 May 2009