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A Flexible Tactile Capacitive Sensor for Slip Detection

[+] Author Affiliations
Jinah Chung, Baek-chul Kim, H. R. Choi, H. P. Moon, Y. K. Lee, J. D. Nam, J. C. Koo

Sungkyunkwan University, Suwon, Gyeonggi, South Korea

Paper No. DETC2011-48893, pp. 507-510; 4 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5480-8
  • Copyright © 2011 by ASME


A tactile sensor for slip detection is necessary for humanlike grasping in robot hand. This paper reports a capacitive tactile slip sensor that can detect slip on the surface of the sensor structure. The newly developed capacitive slip sensor uses acrlyro-nitrile butadien rubber (NBR) as substrate. The presented sensor device in this paper has fingerprint -like structures that are similar with the role of the human’s fingerprint. Movement of the structure that attached on surface of substrate arise capacitance changes, and these are used to detect slip. We carried out slip experiment by prototype of capacitive slip sensor and slip was successfully detected.

Copyright © 2011 by ASME
Topics: Sensors



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