Carnegie Mellon University
A Soft Multi-Axis Force Sensor

Daniel Vogt, Yong-Lae Park , and Robert J. Wood
Proceedings of the IEEE Sensors 2012 Conference, October, 2012, pp. 897-900.

  • Adobe portable document format (pdf) (334KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Thin, highly compliant sensing skins could provide valuable information for a host of grasping and locomotion tasks with minimal impact on the host system. We describe the design, fabrication and characterization of a novel soft multi-axis force sensor made of highly deformable materials. The sensor is capable of not only measuring normal force and but also 2D in-plane forces. This soft sensor is composed of an elastomer (modulus: 69 kPa) embedded with microchannels filled with conductive liquid. Depending on the intensity and the direction of an applied force, the cross-section of some of the channels will be compressed, changing its electrical resistance. The channel dimensions of the current prototype are 200 um x 200 um and the overall size of the sensor is 50 mm x 60 mm x 7 mm. Characterization results showed sensitivities in the two principal in-plane directions of 37.0 mV/N and -28.6 mV/N, respectively.

Number of pages: 4

Text Reference
Daniel Vogt, Yong-Lae Park , and Robert J. Wood, "A Soft Multi-Axis Force Sensor," Proceedings of the IEEE Sensors 2012 Conference, October, 2012, pp. 897-900.

BibTeX Reference
   author = "Daniel Vogt and Yong-Lae {Park } and Robert J. Wood",
   title = "A Soft Multi-Axis Force Sensor",
   booktitle = "Proceedings of the IEEE Sensors 2012 Conference",
   pages = "897-900",
   month = "October",
   year = "2012",