Development of a tactile sensing system using piezoelectric robot skin materials

Since service robots perform their functions in close proximity to humans, they are much more likely than other types of robot to come into contact with humans. This means that safety regarding robot-human interaction is of particular concern and requires investigation. Existing tactile sensing methods are very effective at detecting external dangerous loadings; however, until now, they have been very expensive. Recently, a new type of self-sensing tactile technology for service robots has been introduced, which harnesses the piezoelectric effect of several robot skin materials. In these kinds of system, relatively cheap materials are used as sensors themselves. In this research, a robot system with a self-sensing tactile technology was developed using piezoelectric robot skin materials. The test results indicate that this type of system is appropriate for application to service robots.