Tough, Bendable and Stretchable Tactile Sensors Array for Covering
Robot Surfaces
Yuji Hirai1 , Yosuke Suzuki2 , Tokuo Tsuji2 and Tetsuyou Watanabe2
Abstract— This study proposes a bendable and stretchable
tactile sensors array and its data acquisition circuit with the aimof realizing a tough tactile skin for robotic surface. Its pressure
sensitive part consists of conductive fabrics and pressureconductive rubber sheets arranged in a matrix form. The entirepressure sensitive part is covered with silicone rubber, whichmakes up for not only the weakness to mechanical damage
and water wetness but also the lack of restoring force. The
data acquisition circuit consists of a small number of electronic
components. The experimental result shows that each tactile cellof the sensor can detect normal force of 0.7N ∼ 3N with small
hysteresis and high repeatability, the sensor can detect force
distribution without inaccurate sensing due to a wraparoundcurrent, and the mechanical properties of the sensor are suitablefor practical use in tough conditions.

Fig. 1. The proposed bendable and stretchable tactile sensors array with a
16×4 matrix configuration using conductive fabrics and pressure-conductive
rubber sheets

I. INTRODUCTION
Contact state estimation is a common problem many
robots confront in executing their tasks. Interaction of force
between a robot and its environment through contact plays
an important role in various performances of robots such as
locomotive of mobile robots and dexterity of manipulators.
If a complete model of the environment is available, theproblem could be analytically solved and an optimal motion
plan would be derived. However, uncertainty necessarily
exists in real environments, and so a methodology whichenables a robot to plan and generate its motion in the unmodeled environment is required. The requirement is recently
becoming higher in production automation of complicatedtasks, which need delicate and stable contact and have to
be done by human hands, for example, manipulation of
deformable or fragile objects.
Softness of surfaces brings various benefits to robots inreal tasks: It absorbs model errors of the robots, suppresses
impacts and vibrations at contact, and enlarges frictional
force with the objects by forming surface contact. Thus, theseeffects are widely exploited in tires and crawlers of mobile
robots, soles of legged robots, and fingertips of robotic hands.
These material features are useful for efficiently transmitting
the driving force of the mobile robots and for stably graspingwith weak force by the robotic hands, but on the other hand,when large force acts, deformation due to the softness cannot
be ignored. In order to solve this problem, it is required
1 Yuji Hirai is with the Graduate School of Natural Science and Technology, Kanazawa University, Kakuma-machi, Kanazawa, 9201192 Japanyuji9817@stu.kanazawa-u.ac.jp
2 Yosuke Suzuki, Tokuo Tsuji and Tetsuyou Watanabe are with theFaculty of Mechanical Engineering, Institute of Science and Engineering, Kanazawa University, Kakuma-machi, Kanazawa, 9201192 Japansuzuki@se.kanazawa-u.ac.jp

to sense the contact position and force and incorporate thisinformation appropriately into the control of the robots.
Here, a tactile sensors array, which has distributed detection elements on its surface, is advantageous as comparedwith a force/torque sensor embedded at one point inside
the structure. It is because a tactile sensors array is able
to recognize a contact region, not a single point, planarly
formed on the surface, and measure the magnitude of theforce acting at each part in the contact region. This can bealso available for estimating the shape of the deformed soft
material.
A variety of tactile sensors aiming to cover surfacesof robots (such sensors are also called “artificial skins”)
have been proposed in various detection principles, sensor
structures, and data acquisition methods [1], [2], [3]. Detection principles mainly applied in existing tactile sensors
are resistive type and capacitive type, and there are somemethods of constituting only with thin and bendable parts,that is, sheet-shaped conductors, resistors and insulators.
Therefore, different kinds of bendable tactile sensors havebeen proposed [4], [5], [6], [7]. For example, Shimojo et al.
presented a thin and bendable tactile sensor composed of apressure-conductive rubber sheet and stitched electrical wires[4], and Lee et al. proposed a very thin and flexible capacitive
tactile sensor using polymethylsiloxane (PDMS) elastomer
as a structural material fabricated by MEMS process [5].
However, it is difficult to construct tactile sensors that are not
only bendable but also stretchable. For realizing a stretchable
tactile sensor, it is required to devise shape or material ofelectrical wires connecting between detection elements tobe expandable [8], or to make the detection element itself
stretchable [9], [10]. An example of the former method is

y
le

ab
tc
re
St

x

Upper-layer(Conduc!ve fabric)

Lower-layer(Conduc!ve fabric)

re

tc
ha

bl
e

Middle-layer(Pressure-conduc!ve rubber)Sta stretchable tactile sensors array proposed by Jentoft et al.,whose wires are made of wavy-shaped flexible printed circuit[8]. Such a method can utilize various existing detection
elements, but there are demerits in principle; complexityof fabrication process and wideness of the insensitive area
between the elements. In the latter method, some studies
use conductive fabrics. Hoshi et al. developed a capacitive
type of tactile sensors array composed of conductive fabrics
sandwiching soft urethane foams [9], and Yoshikai et al.
used conductive knitting structure for whole-body tactile
sensing of humanoids [10]. These structures can be easily
fabricated and widely expanded, but the weakness of theirelastic restoring force may become a demerit in terms of
mechanical elements. Such a fabric is also weak in wearresistance and waterproofness and so it cannot be used intough environments. Another method to construct a stretchable tactile sensor is to form a soft strain gauge by fillinga narrow flow path formed inside flexible silicone rubbermaterial with conductive liquid metal [11], [12], [13]. It iseasy to make small-sized, complicated and three-dimensional
structure.
On the other hand, an electronic circuit for data acquisition
is an important design factor as well as the pressure sensitive
part. Since it is difficult to configure the circuit to be
deformable, it has to be miniaturized and embedded in aspace other than the soft surface of the robot. Especially, inthe case of a tactile sensors array, a circuit for switchinga large number of detection channels is required, which is
generally constructed as a two-dimensional scanning circuit[1], [2], [4], [14], [15]. Therefore, it is also important toimplement such a data acquisition circuit compactly without
affecting the structural design of the robot.
In this paper, we propose a bendable and stretchable
tactile sensors array as shown in Fig. 1 and its compact
data acquisition circuit with the aim of realizing a toughtactile skin for robotic surfaces. Its pressure sensitive part iscomposed of conductive fabrics, pressure-conductive rubber
sheets and silicone rubber. The pressure-conductive rubber
sheets construct a matrix of resistive detection elements,
which are sandwiched by the conductive fabrics used as
stretchable conductive sheets. These electrical components
are embedded in layer-structured silicone rubber. This structure brings wear-resistance and waterproofness while maintaining bendability and stretchability. In addition, a simple
scanning method consisting of a multiplexer and a demultiplexer is proposed for the data acquisition circuit. Thismethod prevents detection error due to a wraparound current.
The contributions of this paper are as follows:• A novel bendable and stretchable pressure sensitive partis constructed with conductive fabrics and pressureconductive rubber sheets. The entire pressure sensitive
part is covered with silicone rubber. It makes up for
not only the weakness to mechanical damage and water
wetness but also the lack of restoring force, which aredefect of the conductive fabrics.
• A simple configuration of a data acquisition circuit forscanning tactile sensors arrays is proposed. Generally, inFig. 2. Structure of the pressure sensitive part (Pressure-conductive rubberin the middle layer is sandwiched by conductive fabrics in the upper andlower layers. The conductive fabrics in the upper layer are connected in
the x direction and separated in the y direction, and oppositely in the lower
layer, connected in the y direction and separated in the x direction.)a resistive tactile sensors array, it is necessary to avoid
inaccurate sensing due to a wraparound current causedby reaction at points other than the scan target point. The
scanning circuit implemented in this paper consists of asmall number of electronic components by devising theway of inputting the reference voltage of the multiplexerand demultiplexer.
II. SENSOR DESIGN
A. Pressure Sensitive Part
The structure of the pressure sensitive part of the proposed
tactile sensors array is shown in Fig. 2. It consists of threelayers of electrical parts: Pressure-conductive rubber (Velostat, thickness of about 0.1mm) at the middle-layer, and knit
conductive fabrics (plated with Silver) at upper and lower
layers. Small fragments of the pressure-conductive rubber
are arranged in a two-dimensional matrix. The conductive
fabrics in the upper layer are connected in the x direction andseparated in the y direction, and oppositely in the lower layer,
connected in the y direction and separated in the x direction.
When the pressure-conductive rubber is pressurized at a
certain point and the resistance value decreases, a current
path is formed from the upper layer to the lower layer
passing through the row and the column including the point
occurs, depending on the magnitude of the pressure. Thus,
we can measure the magnitude of the pressure at eachposition by switching the row connected to the high electric
potential in the upper layer and the column connected to thelow electric potential in the lower layer. Note that the knit
conductive fabric has anisotropy in stretchability dependingon the weaving direction, and it is easily stretched in acertain direction but hardly stretched in the perpendicular
direction. Therefore, in both of the upper and lower layers,
the conductive fabrics are oriented so as to be stretchable inthe direction in which the fabrics are connected.
This pressure sensitive part is, as shown in Fig. 3, covered
with silicone rubber for accurately positioning the com-

(a)

0.5

Silicone rubber cover

(c)

(d)

Fig. 4. Fabricated component parts of the pressure sensitive part ((a) 1st
silicone layer and the conductive fabric in the lower layer, (b) 2nd silicone
layer and the fragments of the pressure-conductive rubber, (c) 3rd silicone
layer, and (d) 4th silicone layer and the conductive fabric in the upper layer)

High-elasc
Low-elasc

0.5

4.3
1.5 1.3 1.5

Cross-sectional view
6.5
5

(b)

High-elasc
7.5

Fig. 3. Structure of the silicone rubber covering the pressure sensitive part
(Four layers of silicone rubber sheets with different elasticities are utilized
for positioning and upgrading the pressure sensitive part.)

ponents and improving wear-resistance and waterproofness.
As seen in the sectional view, there is a void between the
conductive fabric and the pressure-conductive rubber so thatthese components do not contact with each other in an
unloaded state. It prevents erroneous reaction to bendingor stretching of the sensor structure which causes compression strain in the thickness direction. The silicone cover
is constructed by dividing it into four layers and attachingthem to constrain the inner components. Here, two kinds ofsilicone rubber having different elasticities are used: highelasticity (Dragon Skin 20) on both surface sides and low
elasticity (Ecoflex 00-20) inside. This is to make the surface
tough against physical damage such as tearing and wearing
while to improve the stretchability and the sensitivity. For
the prototype of the sensor, we decided the dimensions asfollows; the pitch of the detection elements is 7.5mm, thewidth of each element is 6.5mm, the thickness and the widthof the void are 0.5mm and 5mm, and the total thickness ofthe sensor is 4.3mm. The size of the element is able to bechanged. It is possible to make it larger or smaller, although
the fabrication becomes more difficult as the size is smaller.
Figs. 4 and 5 show the fabricated component parts and theconstructed tactile sensors array, respectively. Here a smallsized (4 × 4) matrix configuration was adopted with aiming
to verify the basic characteristics of tactile sensing. Note thatthe size of the matrix is arbitrary, and the numbers of therows and the columns can be different. However, it affects
the difficulty level of configuration of the data acquisition
circuit described in the next section and its sampling time.
B. Data Acquisition Circuit
Fig. 6 shows an equivalent circuit diagram for data acquisition. This circuit consists of two ICs (multiplexer anddemultiplexer) and one reference resistor. Connected to thematrix of the pressure sensitive part, electrical paths in
the upper layer are formed from the voltage source to theFig. 5.

Constructed 4 × 4 matrix configuration of the tactile sensors array

conductive fabrics of each row through the demultiplexer,
and those in the lower layer are from the conductive fabrics
of each row to the ground through the multiplexer and thereference resistor. By setting the channel-select inputs of thedemultiplexer and the multiplexer, it is possible to measure
the reaction current at the point in arbitrary row and column
from the sensor-output voltage. After setting the channelselect and performing the AD conversion of the voltage of
one point, set the next channel and do the same. By repeating
this process, the sensor measures the voltage of all points.
The sensor detect normal force from the voltage value andthe pressed position from the order of data acquisition.
When scanning such a matrix of resistive-type tactile
sensors array, it is demanded to prevent erroneous detection
due to a wraparound current generated by pressurization atpoints other than the target point. One of general methods
is to input the same electric potential as that of the output
voltage at the moment for all rows excepting the selectedrow, which is only connected to the voltage source, as
shown in Fig. 6. We realized this method in a simple
way by connecting the sensor-output terminal to the GND
terminal of the demultiplexer. In this cace, although thepotential difference between the VDD and GND terminals of
the demultiplexer dynamically changes, the circuit operates
stably as long as this potential difference keeps larger than
the threshold voltage for driving the IC. The requirement
can be satisfied by adjusting the reference resistance so

+5V
CD74HC4067
VDD
CH0

16x16 matrix of tac!le detec!on elements

WeightProposed sensor

CH1
Com-in3-axis force sensor
and shperical indenter(r = 5mm)

CH22-D positioning stage

GND

Experimental setup for performance evaluation (Normal force
Fig. 7.
loaded on the proposed sensor is presicely measured by 3-axis force sensor,
the compression point is adjusted by 2-D positioning stage, and the load iscontrolled by the mass of the weight.)

CH15
S0 ~ S3
Channel select inputs

CD74HC4067
CH0

Sensor output
Reference resistance
GND

CH1

CH2

CH15

S0
~
S3

VDD

ChannelselectinputsRow
0Com-out

GND
GND

Fig. 6. Equivalent circuit diagram for data acquisition (The circuit iscomposed of two ICs (multiplexer and demultiplexer) and one reference
resister. The common output (sensor signal output) of the multiplexer isconnected to the Gnd terminal of the demultiplexer for avoiding wraparoundcurrent.)

that the output voltage does not exceed the threshold. If an
unexpected pressurization makes the output voltage exceed
the threshold, the operation of the demultiplexer stops atthat moment and the output voltage decreases, which brings
saturation of the output voltage but causes no fatal trouble
in the circuit.
We adopted 16 channel analog multiplexer/demultiplexer
74HC4067 for both the multiplexer and the demultiplexer. By
setting the four channel-select inputs in each of the ICs, it ispossible to scan up to 256(= 16 × 16) detection elements. A
PSoC 5 CY8C58LP family processor module was adopted
for switching the channel-select inputs and AD conversionof the output voltage.
III. PERFORMANCE EVALUATIONThis section describes experiments to examine the following characteristics of the sensor. Hereinafter, we call thetactile detection elements as “taxels.”• Sensitivity to normal force• Variance of sensitivity among all taxels• Response to distributed load
A. Experiment Method
The overview of the experimental setup is shown in Fig.
7. The proposed sensor is fixed on a 2-D positioning stage.
A spherical indenter (r = 5mm) is fixed on a 3-axis force
sensor (USLG25, measuring range XY: ±5N and Z: +10N,
Tec Gihan Co., Ltd.). The 3-axis force sensor is attached to aflat plate that slides vertically. The compression point can bearbitrary adjusted by moving the 2-D positioning stage, andthe force is changed by the mass of the weight on the flat
plate. Fig. 8 shows a definition of numbering of the taxels.

1

2

3

Column000 01 02 03

1

10 11 12 132

20 21 22 23330 31 32 33

Fig. 8. Definition of the numbering of the taxels of the proposed sensor(For example, the taxel at i-th row and j-th column is called as “taxel i j”
or “taxel (i, j)” in this paper.)Comparing the output of the proposed sensor with the accurate value obtained by the 3-axis force sensor, we examine
the characteristics in each loading condition. To suppress theinfluence of creep property caused by viscoelasticity of thesoft materials, we measure the data at the time 10s after eachcompression.
B. Sensitivity
To investigate sensitivity to the normal force of the sensor
and the influence of hysteresis, we loaded and unloaded
normal force of 0.1N ∼ 5N at the center of a single taxel(1, 1). Fig. 9 shows the amount of the sensor output current
corresponding to the compressed normal force. It can be seen
that, the current linearly increases when the force is 0.7N ∼1.5N, the gradient gets smaller in 1.5N ∼ 3N, and the current
becomes almost constant at more than 3N. Thus, each taxelof the sensor can detect normal force of 0.7N ∼ 3N. Whenunloading force, the relationship between the current and thenormal force is almost the same as that of loading process.
However, the current corresponding to the same force isslightly larger in unloading process. This is considered to be
the influence of hysteresis caused by using elastic materials(pressure-conductive rubber and silicone rubber).
C. Variance of sensitivity
To investigate variation in the sensitivity among all of thetaxels, we loaded constant normal force about 2N one-by-18
Sensor output current [mA]16

16.3 3.9

0

0

3.0

3.0

0

0

0

0

0.2

9.3

0

0

0.2

4.9

0
13.5

0

0

0

0

1.3
0

0

0

0

4.0
0

3.2
9.6

0

0

0

0

0

0

2.5

0

0

0

0

8.9

0

0

0

0

13.5

0

0

0

0

14
12
10
8
6

First

4

Second

2

Third

0
0

1

2

3
4
Normal force [N]56Fig. 9. Experimental result of sensitivity to the normal force (Relationshipbetween the current of taxel (1, 1) and the normal force)(a)Current of each taxel [mA]

16
14
12
10
8

(b)

6
4
2
0
00

01

02

03

10 11 12 13 20 21 22 23
Numbering ot the taxel (row/column)

30

31

32

33

Fig. 10. Experimental result of variance of sensitivity of all taxels (Sensor
output current of taxels (0, 0) ∼ (3, 3) when constant normal force (2N) is
load at the center of each element one-by-one)

one at each taxel. Fig. 10 shows the sensor output current
which occurred when each of the taxels (0, 0) ∼ (3, 3) ispressed. It can be seen that, the current is 14.4mA at the
maximum, 10.4mA at the minimum, and 12.4mA on average.
The variation of the current is within the range of +16%
∼ −19% compared to the average. Thus, the variance ofsensitivity among the element is not so large, but it should
be minimized by calibration for precise force measurement.
The cause of the variance and its improvement method are
discussed in section 4.
D. Response to distributed load
To investigate the response of the sensor to distributedload, we pressed multiple taxels of the sensor simultaneously
by using fingers, a screw bolt and a metal rod. Fig. 11
shows current distribution of the taxels with color maps andnumbers which mean the amount of the sensor output currentof the corresponding 4 × 4 cells. When two separate areas
were compressed with two fingers as in Fig. 11 (a), multiple
taxels contacting with the fingers reacted. The magnitude of
the reaction spread with two peak points which were strongly
pressed. In Fig. 11 (b), two separate points were compressedwith the head and the tip of the screw bolt. Only two taxels(0, 0) and (2, 2) corresponding the two points reacted and(c)Fig. 11. Experimental result of response to distributed load (Sensor output
current of taxels (0, 0) ∼ (3, 3) when distributed load is added by (a) afinger, (b) a bolt and (c) a metal rod, respectively. The color of the 4 × 4
cells at the right side indicates the magnitude of the current, and the numberof each cell means the actual amount of the current (mA). The sensor output
currents of all 16 elements are measured every 13ms.)

the surrounding taxels did not reacted at all. In Fig. 11 (c), a
linear area was compressed with the metal rod. Three taxels
in the same orientation as the rod reacted, and the gradualchange in the magnitude reflected inclination of the rod tothe sensor surface. The cycle time for sampling all taxels
was about 13ms. It can be seen that, the current is flowing
at the position corresponding to the shape of the object. In
addition, no wrapcurrent was generated even if two separated
areas were pressed at the same time. Therefore, it is said thatthe sensor can detect the distributed load.
IV. DISCUSSION
The experimental results of the sensitivity of the sensor
showed that the sensor was able to detect normal force of
0.7N ∼ 3N with one taxel. The hysteresis was small and

(a)

(b)

(c)

Fig. 12. Durability test of the proposed sensor (The sensor was (a) appliedwith strong impact force with a hammer, (b) bent around cylinders withdifferent diameters and (c) stretched with pinched at the both ends.)

the repeatability was high. We investigated whether thesecharacteristics are maintained even in tough conditions asshown in Fig. 12. Even after strong impact force was appliedwith a hammer, the sensor was not broken and normallyworked. In addition, erroneous reaction was not seen evenin bending with a radius of 10mm or stretching by 25%.
Therefore, it is confirmed that the proposed sensor is tough,bendable and stretchable.
The sensitivity among the taxels has non-negligible variance. The cause is considered to be the internal resistanceof the conductive fabric from the fact that the taxel (3, 3)
is the worst response. That is, the conductive fabric has
unignorable resistance in the longitudinal direction, whichslightly prevents current flow from the taxel to the current
detecting circuit. Thus, the variance can be corrected bycalibration after constructing the sensor because the causeof the variance is not a noise but a structural factor. Furthermore, the variance can be decreased by improvement of theconfiguration, for example, change of the cutting shape ofthe conductive fabric, or use of the conductive fabric withsmaller resistance.
The void for avoiding erroneous reaction is an importantdesign parameter to adjust the sensitivity of the sensor.
Applied force on the sensor is at first supported by the parts
other than the void parts until the void is crushed and theinner conductive components contact each other. Thus, thelarger and thicker the supporting parts are, the less sensitive
the sensor becomes against weak force. We actually foundthat the structure without void had high sensitivity to normal
force. Therefore, the sensitivity of the sensor can be adjusted
to its usage by changing the width and the thickness of thevoid or changing the modulus of elasticity of the supportingparts.
V. CONCLUSIONSThis paper proposed a novel configuration of a tough,bendable and stretchable tactile sensors array for covering arobot surface. These mechanical properties are brought about
by constructing the sensor with conductive fabrics, pressureconductive rubber sheets, and silicone rubber covering theentire pressure sensitive part. This paper also proposed acompact data acquisition circuit for scanning the tactile
sensors array. Each tactile element can detect normal forceof 0.7N ∼ 3N with less hysteresis and high repeatability.
Distributed load is accurately detected without a wraparoundcurrent. The toughness of the sensor enables its operationeven if it is subjected to impact force, bending load, or tensilestress. Owing to these characteristics, the sensor is expected
to be used in various scenes where strong force acts on
robot surfaces. Our future work is to implement the sensor
to a robotic hand which has soft surfaces at the gripping
parts. We measure the output of the sensor and investigate
what information can be obtained while the hand is grasping
various objects or contacting with environments.
ACKNOWLEDGMENT
This work was partially funded by ImPACT Program ofCouncil for Science, Technology and Innovation (Cabinet
Office, Government of Japan).
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