Characterization of a compliant multi-layer system for tactile sensing with enhanced sensitivity and range

To allow robots to interact with humans via touch, new sensing concepts are needed that can detect a wide range of potential interactions and cover the body of a robot. In this paper, a skininspired multi-layer tactile sensing architecture is presented and characterized. The structure consists of stretchable piezoresistive strain-sensing layers over foam layers of different stiffness, allowing for both sufficient sensitivity and pressure range for human contacts. Strip-shaped sensors were used in this architecture to produce a deformation response proportional to pressure. The roles of the foam layers were elucidated by changing their stiffness and thickness, allowing the development of a geometric model to account for indenter interactions with the structure. The advantage of this architecture over other approaches is the ability to easily tune performance by adjusting the stiffness or thickness of the foams to tailor the response for different applications. Since viscoelastic materials were used, the temporal effects were also investigated.