A Flexible Annular Sectorial Sensor for Detecting Contact Position Based on Constant Electric Field

To achieve tactile detection on the irregular surface of a robot link, a flexible annular sectorial sensor with a five-layer structure was proposed that could be wrapped on the surface of a truncated cone-shaped link. The sensor was designed for the detection of a contact position when robots collide with other objects during movement. The sensor obtains the coordinates of the contact position by exerting a constant electric field on the upper and lower conductive layers. The mathematical model linking the coordinates of the contact position and the corresponding electric potential on the conductive layer was established, based on the uniqueness of the electric field. The design of the sensor was simulated using COMSOL software, and the detection error of the contact position was discussed. A sensor sample was fabricated and wrapped on the mechanical arm. The results of the simulations and experiments indicated that the flexible sensor performed very well when wrapped on the robot link.