Research of three-axis tactile sensor based on pressure conductive rubber

A new three-axial tactile sensor based on pressure conductive rubber has been presented. Anisotropic piezoresistive material CSA, a kind of pressure conductive rubber, is used as sensitive cell. CSA's thickness is 0.5 mm. Also in which, resistance is about in inverse proportion to the 1.8th power of the force. Each tactile sensor has three parts, i.e. touch-spot, CSA and base. Normal and shear forces can be detected by CSA's deformation. Further more, the formula to calculate the three-axis force and discussion of the design of sensor array are presented, which provides a novel way to research the three-axial tactile sensor.