A novel embedded tactile sensor designed to be integrated in future robotics hands and the related production process are presented. The sensor is based on a multilayer rubber structure bound to a rigid thermoplastic support frame which encloses the embedded sensor electronics. In the project design, each sensor features up to 12 pressure sensitive tactels distributed on a phalange-like curved surface. Tactile data are read by a CDC (Capacitance-to-Digital Converter) and forwarded to a microcontroller via I2C bus. Each microcontroller module handles up to 4 sensor modules (one finger) and provides the data over CANbus. The construction process has been designed to be as cheap and simple as possible. It is divided in four macro-steps, which relies on different technologies: elastomers for dielectric and conductive layers, thermoplastic materials and thermoforming for rigid support frame, flexible PCB for the embedded electronics and adhesive for the layers binding.
