Soft Resistive Tactile Sensor Based on CNT-PDMS-Gel to Estimate Contact Force

Soft tactile sensors have been extensively studied due to their promising potential in estimating applied forces while exhibiting mechanical compliance. Such sensors have been fabricated from a variety of composite materials and various techniques to advance their applications. Currently, the development of soft tactile sensors based on carbon nanotubes (CNT)–polydimethylsiloxane (PDMS) gel has yet been investigated. This letter presents the design of a soft tactile sensor based on a CNT-–PDMS-gel composite that is sensitive to external forces. The sensor was composed of an elastomer, a rectangular conductive body made from a PDMS–CNT-gel composite, and a circuit board. The electrical resistance of the composite changed in response to the strain applied. Push and release tests were conducted, and the conductive body with 1% CNT was chosen due to high sensitivity, fast response, and stability in reading output. Experimental results, using a feed-forward neural network, showed that the sensor can estimate the applied normal force based on the changes of resistance.