A highly sensitive 3D-shaped tactile sensor

In this paper we introduce a novel way of producing highly sensitive 3D-shaped tactile sensors. The sense of touch is critical for enabling humans to master intricate manual interactions. Numerous anthropomorphic robots make extensive use of complex three dimensional body parts in mimicry of their biological counterparts. We use laser structuring technology to augment freeform surfaces with conductive tracks, paving the way for the manufacturing of 3D-shaped tactile sensors. The signal acquisition electronics can be effortlessly embedded on the backside of an artificial layer of skin. We evaluate the performance of the sensor and discuss the results in detail. As an exciting application, we produced a tactile fingertip sensor for the Shadow Robot Hand that incorporates 12 tactile sensor regions and the embedded signal acquisition electronics. The integrated microcontroller is able to capture force patterns with a frame-rate of more than 1 kHz, allowing object slippage to be detected.