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Journal of the Robotics Society of Japan
The aim of this study is the development of a biocompatible tactile sensor for measuring softness, sliminess, smoothness, and so on. We have proposed active tactile sensing method using balloon expansion. A balloon is contacted with an object and expanded by using fluid. Tactile information is evaluated by measuring the expansion process. In this paper, we develop a sensor system using a syringe. It is a compact system and can ensure enough safety for human body tissues by sterilization anddoi:10.7210/jrsj.28.811 fatcat:2eed23vnznf4rdgpb2h6ct7dk4