A Stretchable Electrostatic Tactile Surface
Naoto Takayanagi, Naoji Matsuhisa, Yuki Hashimoto, Yuta Sugiura


In this work, we present a stretchable electrostatic tactile surface consisting of a transparent stretchable electrode and a stretchable insulating layer for controlling the tactile sensation of a soft robot. This surface can be stretched up to a 50% strain, so it can be attached to the surface of a moving part of a soft robot. In addition, it is sufficiently transparent that its appearance is virtually unimpaired. We investigate the lower perceptible voltage limit under different conditions of the surface configuration, stretch state, and contact area with the hand.