Three-dimensional finite element analysis of a novel silicon based tactile sensor with elastic cover

Abstract

Tactile sensors are indispensable in robotic or prosthetic hands, which are normally covered with or embedded in soft materials. A novel tactile sensor with the structure of combining an elastic steel sheet and a piezoresistive gauge has been developed in the previous work. To better understand the mechanical effects of soft cover on this sensor, a three-dimensional finite element model (FEM), which is based on linear elastic behavior, is established. As usual, polydimethylsiloxane (PDMS) is adopted as the soft cover material. The results indicate that though soft cover diffusion of mechanical signals still exists, the steel sheet strengthens the measuring ability and at the same time lowers the density of sensing units to identify the single indentation location.