Development of a dual-axis hybrid-type tactile sensor using PET film

In previous work, a dual-axis hybrid-type tactile sensor using PDMS (Polydimethylsiloxane) with a pair of metal electrodes, (which were deposited directly on the PDMS surface), was proposed. The hybrid sensor can measure the normal force and the shear force from the measurement of the change of capacitance and resistance values from the one pair of electrodes. However, the metal is hard to be deposited on the surface of the PDMS because the PDMS is hydrophobic. The hydrophobic surface can be changed to hydrophilic using O2 Plasma treatment or UV treatment. When O2 plasma treatment or UV treatment is used, there is the problem that the processing of the metal deposition and the wiring completed in a very short period of limited time. Also, the deposited metal on the surface of the PDMS is easy to break because the deposited metal is exposed in the air. In this paper, we propose a dual-axis hybrid-type tactile sensor where the PET (polyethylene terephthalate) film is inserted between the PDMS films. The deposited metal is not removed easily from the PET film because the adhesion is strong. Also, the PDMS surrounding the PET film plays the roles of dielectric elastomer and shielding the deposited metal from the external environment at same time. Experimental results verify the effectiveness of the fabricated dual-axis hybrid-type force sensor.