Mexican-Hat-Like Response in a Flexible Tactile Sensor Using a Magnetorheological Elastomer
AbstractA significant challenge in robotics is providing a sense of touch to robots. Even though several types of flexible tactile sensors have been proposed, they still have various technical issues such as a large amount of deformation that fractures the sensing elements, a poor maintainability and a deterioration in the sensitivity caused by the presence of a thick and soft covering. As one solution for these issues, we proposed a flexible tactile sensor composed of a magnet, magnetic transducer and dual-layer elastomer, which consists of a magnetorheological and nonmagnetic elastomer sheet. In this study, we first investigated the sensitivity of the sensor, which was found to be high (approximately 161 mV/N with a signal-to-noise ratio of 42.2 dB); however, the sensor has a speed-dependent hysteresis in its sensor response curve. Then, we investigated the spatial response and observed the following results: (1) the sensor response was a distorted Mexican-hat-like bipolar shape, namely a negative response area was observed around the positive response area; (2) the negative response area disappeared when we used a compressible sponge sheet instead of the incompressible nonmagnetic elastomer. We concluded that the characteristic negative response in the Mexican-hat-like response is derived from the incompressibility of the nonmagnetic elastomer. View Full-Text
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Kawasetsu, T.; Horii, T.; Ishihara, H.; Asada, M. Mexican-Hat-Like Response in a Flexible Tactile Sensor Using a Magnetorheological Elastomer. Sensors 2018, 18, 587.
Kawasetsu T, Horii T, Ishihara H, Asada M. Mexican-Hat-Like Response in a Flexible Tactile Sensor Using a Magnetorheological Elastomer. Sensors. 2018; 18(2):587.Chicago/Turabian Style
Kawasetsu, Takumi; Horii, Takato; Ishihara, Hisashi; Asada, Minoru. 2018. "Mexican-Hat-Like Response in a Flexible Tactile Sensor Using a Magnetorheological Elastomer." Sensors 18, no. 2: 587.
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