ICRA 2011 Paper Abstract


Paper TuA212.2

Kramer, Rebecca (Harvard University), Majidi, Carmel (Harvard University), Wood, Robert (Harvard University)

Wearable Tactile Keypad with Stretchable Artificial Skin

Scheduled for presentation during the Regular Sessions "Force and Tactile Sensing" (TuA212), Tuesday, May 10, 2011, 10:20−10:35, Room 5H

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 29, 2020

Keywords Force and Tactile Sensing, Sensor Networks, Soft Material Robotics


A hyperelastic, thin, transparent pressure sensitive keypad is fabricated by embedding a silicone rubber film with conductive liquid-filled microchannels. Applying pressure to the surface of the elastomer deforms the cross-section of underlying microchannels and changes the electrical resistance across the affected channels. Perpendicular conductive channels form a quasi-planar network within an elastomeric matrix that registers the location, intensity and duration of applied pressure. Pressing channel intersections of the keypad triggers one of twelve keys, allowing the user to write any combination of alphabetic letters. A 5% change in channel output voltage must be achieved to trigger a key. It is found that approximately 100 kPa of pressure is necessary to produce a 5% change in voltage across a conductive microchannel that is 20 microns in height and 200 microns in width. Sensitivity of the keypad is tunable via channel geometry and choice of elastomeric material.



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