Soft tactile sensors have been extensively studied due to their promising potential in estimating applied forces while exhibiting mechanical compliance. Such sensors have been fabricated from a variety of composite materials and various techniques to advance their applications. Currently, the development of soft tactile sensors based on carbon nanotubes (CNT)-polydimethylsiloxane (PDMS) gel has yet been investigated. This letter presents the design of a soft tactile sensor based on a CNT - PDMS-gel composite that is sensitive to external forces. The sensor was composed of an elastomer, a rectangular conductive body made from a PDMS-CNT-gel composite, and a circuit board. The electrical resistance of the composite changed in response to the strain applied. Push and release tests were conducted, and the conductive body with 1% CNT was chosen due to high sensitivity, fast response, and stability in reading output. Experimental results, using a feed-forward neural network, showed that the sensor can estimate the applied normal force based on the changes of resistance.
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