Development of fully soft composite tactile sensors using conductive fabric and polydimethylsiloxane

Abstract

This study presents composite resistive soft tactile sensors combining conductive fabric and polydimethylsiloxane. The sensors utilize the changes in resistance of the conductive fabric when stretched to sense the pressure, while reducing the volatility of resistance of the conductive fabric by embedding the fabric within the elastomer matrix. The sensors have a compact design, a simple fabrication process using cost-effective materials, and a compliant structure. The performance evaluation of 12 samples was conducted to assess their linearity, sensitivity, time responses, and reliability. A particular sample was chosen for its universal applicability, characterized by a rise time of similar to 0.38 s, a decay time of similar to 2.71 s, a settling time of similar to 851.8 s, hysteresis of 21.04 %, and a sensitivity of 0.0362 %/kPa. Finally, potential applications were proposed using the selected sensor, showcasing its capability to support closed-loop systems in the fields of soft robotics and wearable technology.