Estimation of coefficient of static friction with one-axis force sensor by observing peripheral local slips on elastic hemisphere

With the development of aging societies, medical costs due to slip-related-falls (SRFs) continue increase. In order monitor accidents, wearable shoe systems detect slips are promising tools prevent SRFs in daily activities. However, a complex and heavy construction is bottleneck systems. this paper, simple sensor mechanism capable detecting static coefficient friction (SCOF) only by one-axis force with elastic hemisphere proposed. investigate design guidelines for slip sensor, we experimentally evaluated (i) Young's modulus (ii) ratio diameter diameter. These results indicate that proposed detects SCOF soft hemisphere. Furthermore, best 1/3 measurement range from 70 230 kPa, which suitable sensor-embedded