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Conductive rubber material has been widely investigated as a sensor and transducer material due to its high piezoresistive, conductive properties. In this paper, we report on a flexible tactile sensor which is based on conductive rubber filled with carbon black. Firstly, a physical model related linear elasticity mechanics and franklinic analogue method is deduced. Then the sensing mechanism of flexible tactile sensor based on conductive rubber is discussed based on the physical model and used as the principle in designing tactile sensor. Theoretical analysis and simulations both verify the structure is reasonable.

As the development of robot technology, the need for safety in robotic systems is of growing importance. A low-cost, flexible three-dimensional force sensing array based on conductive rubber is presented with application as artificial skin for robot. In this paper, the structure of a three-dimensional force flexible tactile sensor has been improved. The flexible sensor based on the pressure-sensitive conductive rubber can detect a three-dimensional force. Compared with the previous method, information of more nodes is considered in decoupling by using LM algorithm. The simulation indicates that the structure and the decoupling algorithm are feasible for the measurement of the flexible tactile sensor array.

This paper proposes a new type of large-scale three-dimensional flexible arrayed tactile sensor based on conductive rubber. It can be used to detect three-dimensional force information on the continuous surface of the sensor, which realizes a true skin type tactile sensor. The widely used method of liquid rubber injection molding (LIMS) method is used for "the overall injection molding" sample preparation. The structure details of staggered nodes and a new decoupling algorithm of force analysis are given. Simulation results show that the sensor based on this structure can achieve flexible measurement of large-scale 3-D tactile sensor arrays.

A novel flexible tactile sensor using conductive rubber with electrical-wires knitted method is presented. The sensor’s design is based on rubber’s pressure-sensitive property. It is flexible and can be mounted on any object to measure tactile information. The mathematic piezoresistivity model of the rubber is described, and we also discuss the sensor’s structure and scanning method. The simulation results show that the sensor can detect pressure accurately.