Development of Multi-functions-and-high-sensitivity Hybrid Tactile Sensor Mimicking Human Tactile Recognition Mechanism

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In this study, a hybrid tactile sensor system consisting of a Carbon Micro Coil (CMC) touch sensor and a force sensor was developed. The sensor system has the capability to measure compression force of the sensor element as well as its deformation. In experiments, the response characteristics of the sensor system to fine deformations of 1 to 9μm were evaluated. In addition, the proximity characteristics of the CMC touch sensor were measured. Also, the directionality of the human tactile sensation capability of human fingertip was investigated in recognizing fine step-heights of about 10μm. In psychophysical tests, human subjects distinguished the pairs of the step-heights with the presentation angles of 0 and 90 degrees using the top and center of their fingertips. And the difference thresholds and subjective equalities were determined.