Mechanical Engineering Faculty Research


Direction of Slip Detection for a Biomimetic Tactile Sensor

Document Type

Conference Proceeding

Publication Date



A biomimetic tactile sensor (BTS) is developed from strips of electrically conductive carbon nanotubes (CNTs) mixed in a polymer matrix that is embedded within a flexible polyurethane shell. The mechanical compliance of the BTS is similar to the human fingertip. Experiments are performed which show that the BTS can be used to detect slip and the direction that slip occurs by examining the relative timing among force signals from adjacent strips of CNTs and the frequency content of the force signals. The BTS can also detect forces applied at distinct points on the surface of the BTS.

Publication Title

12th International Conference on Control, Automation and Systems

First Page


Last Page