Research on the conductivity of a haptic sensor, especially with the sensor under extended conditions

摘要

The present paper describes the application of magnetic compound fluid (MCF) rubber as a haptic sensor for use as a material for robot sensors, artificial skin, and so on. MCF rubber is one of several new composite materials utilizing the MCF magnetic responsive fluid developed by Shimada. By applying MCF to silicon oil rubber, we can make MCF rubber highly sensitive to temperature and electric conduction. By mixing Cu and Ni particles in the silicon oil rubber and then applying a strong magnetic field, we can produce magnetic clusters at high density. The clusters form a network, as confirmed by optical observation. The MCF rubber with small deformations can act as an effective sensor. We report herein several experiments in which changes in the MCF rubber's resistance were observed when the rubber was compressed and a deformation was generated. We then made a trial haptic sensor using the MCF conductive rubber and performed many experiments to observe changes in the electrical resistance of the sensor. The experimental results showed that the proposed sensor made with MCF conductive rubber is useful for sensing small amounts of pressure or small deformations. Sometimes, however, the sensor rubber will be extended when we apply this sensor to the finger of the robot or an elbow. In these cases, it is necessary to understand the changes in sensor's conductivity. We therefore carried out some experiments to demonstrate how, under tensile conditions, the sensor's conductivity changes to a small value easier than the sensor in free condition. The results show that the sensors became more sensitive to the same pressure under extended conditions. In the present paper, we first describe the new type of functional fluid MCF rubber and a new composite material based on this MCF fluid. We then explain the production method for MCF conductive rubber and its conductive algorithm. Finally, we report our results regarding the MCF sensitivity when the MCF rubber was pulled. These experiments show an improvement in the sensitivity of the MCF rubber in the extended state.