As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft sensor that can simultaneously estimate the contact force and contact location. Inspired by humans' skin, which contains multi-layers of receptors, the designed tactile sensor has a dual-layer structure. The first layer is made of a conductive fabric that is responsible for sensing the contact force. The second layer is composed of four small conductive rubbers that can detect the contact location. Signals from the two layers are firstly processed by Wheatstone bridges and amplifier circuits so that the measurement noises are eliminated, and the sensitivity is improved. An Arduino chip is used for processing the signal and analyzing the data. The contact force can be obtained by a pre-trained model that maps from the voltage to force, and the contact location is estimated by the voltage signal from the conductive rubbers in the second layer. In addition, filtering methods are applied to eliminate the estimation noise. Finally, experiments are provided to show the accuracy and robustness of the sensor.

翻译：随着更多机器人用于接触丰富的任务,触觉传感器的需求正在增加。对于许多情况,接触必须符合要求,软感应器需要。本文引入了新设计的软感应器,可以同时估计接触力和接触位置。受人体皮肤的启发,包括多层受体,设计的触觉感应器具有双层结构。第一层由导体结构组成,负责感应接触力。第二层由4个小导体橡胶组成,可以探测接触位置。两层的信号首先由惠通桥和扩音器电路处理,以便消除测量噪音,敏感度得到提高。安杜诺芯片用于处理信号和分析数据。接触力可以通过预先训练的模型获得,该模型从电压到力绘制地图,接触位置由第二层导体橡胶的电压信号估计。此外,两层的信号首先由惠温岩桥和放大电路电路处理,以便消除测量噪音,最后,为显示传感器的精确度提供了试验。