A Flexible and Stretchable Tactile Sensor utilizing Static Electricity The tactile sensor is required for various robots. In humanoid robots, flexibility of the sensor is an important feature for preventing physical damage and for interacting with the human. Moreover, stretchability of the sensor has advantages that the sensor is nonbreakable and that the sensor can be easily mounted on curved surfaces or deformable parts such as joints. This paper proposes a novel tactile sensor made of flexible and stretchable silicone rubber. A structure of the sensor is similar to the capacitive tactile sensors. However, the proposed sensor utilizes a different principle from existing sensors. The sensor utilizes static electricity and electrostatic induction phenomenon, and can detect some touch conditions. This paper reports the principle and characteristics of the proposed sensor. Experiments show that the sensor output depends on touch area, touch velocity, and material of touch objects. However, the sensor does not depend on touch weight. Moreover, the experiment shows that even if the proposed sensor is stretched, it performs as the tactile sensor.

1. A FLEXIBLE AND STRETCHABLE
TACTILE SENSOR UTILIZING
STATIC ELECTRICITY
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2. 
Sensors

Advantages

Tactile sensors

Disadvantages

What are FSTSSE?

Applications

Structure

Conclusion

Principle

References

Working of FSTSSE

Characteristics

Experiments
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3. 
responds to an input quantity by generating a
functionally related output usually in the form of an
electrical or optical signal.

Diff types of sensors
>temperature
>pressure
>touch
>speed
>vehicle speed
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4.  sensitive to touch

many types
>resistive
>capacitive
>using SE
>using carbon nanotubes
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5. 
Detects touch and
release

flexible and
stretchable

utilizes the
phenomenon of static
electricity and ESI

used mainly in
humanoid robots
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6. 6

7. Multi-element sensor with 6 square elements and 2 line elements
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8. 
static electricity
>imbalance of electric charges within or on
the surface of a material
>Thales of Miletos in 600 BC

electrostatic induction
>redistribution of electrical charge in an
object, caused by the influence of nearby
charges.
>John Canton in 1753
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10. 
Sensor output for a touch

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12. 



sensor made of conductive silicon rubber
non inverting amplifier
Rs = Rf =10k ohm
Ri = 10M ohm
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13. 1)RESPONSE TO WEIGHT
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14. 2) RESPONSE TO DIFF TOUCH VELOCITIES
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15. 3)RESPONSE TO DIFF AREAS OF SENSOR
ELEMENT
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16. 4) RESPONSE TO DIFF MATERIALS OF TOUCHING
OBJECT
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17. 5) WHEN SENSOR IS STRETCHED
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18. Sensor output when sensor is stretched to triple its original length
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19. 
Flexible

Stretchable

Soft

Simple structure

Can discriminate the touching objects

Can detect the touching points
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20. 
Cannot differentiate between a touch and
collision.

Depends on the condition of sensor surface

Does not respond to weight
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21. 
Robotics

Security systems

Electronic gadgets

Home appliances
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22. CONCLUSION

Flexibility ,stretchability and softness of the tactile
sensor are important features for the humanoid
robots.
 Robotics is a field that needs to be updated with
inventions
 Humans and robots working hand in hand can
make our world a better place to live
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24. 
A Flexible and Stretchable Tactile Sensor utilizing
Static Electricity- Yasunori Tada, Masahiro Inoue,
Toshimi Kawasaki,Yasushi Kawahito, Hiroshi Ishiguro,
and Katsuaki Suganuma.
 Wikipedia
 Sensors, Focus on Tactile, Force and Stress Sensors-
ISBN 978-953-7619-31-2, pp. 444, December 2008
 Tactile Sensing—From Humans to Humanoids-
Ravinder S. Dahiya
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