Electromotive Manipulator Control by Detection of Proximity, Contact and Slipping Using MEMS Multi-axial Tactile Sensor

In this paper, we have demonstrated usefulness of the electromotive manipulator system with a developed single element MEMS sensor which can detect proximity, contact, and slipping to skillful gripping of the object. This MEMS sensor can detect proximity as impedance change of Si substrate by reflected light from the object due to the photoconductive effect. In addition, both normal and shear load can be also detected as resistance change of strain gauge on cantilevers located three-fold symmetry and embedded in PDMS. By attaching the sensor on the electromotive manipulator, accurate control of gripping force was enabled by feedback of the sensor output.