Sensors are essential to the fulfillment of every condition of haptic technology, and they need simultaneously to sense shear stress as well as normal force, and temperature. They also must have a strong and simple structure, softness, and large extension. To achieve these conditions simultaneously, we enhanced the sensitivity of sensors utilizing natural rubber (NR)-latex through the application of electrolytic polymerization focused on the isoprene C=C bonds in natural rubbers such as NR-latex, and then applied a magnetic field and magnetic compound fluid (MCF) as magnetically responsive fluid. When an electric field alone was used in the rubber, the effect of electrolytic polymerization was very small compared to the effect in well-known conductive polymer solution such as plastic. The MCF developed by Shimada in 2001 involved magnetite and metal particles, and acts as a filler in NR-latex. By utilizing the magnetic, electric fields and the MCF, we aligned the electrolytically polymerized C=C along the magnetic field line with the magnetic clusters formed by the aggregation of magnetite and metal particles so as to enhance the effect of electrolytic polymerization. We then demonstrated the effectiveness of the new method of rubber vulcanization on the sensitivity of the rubber by experimentally investigating its electric and dynamic characteristics.

Ordinary electrolytic polymerization has involved plastic-type polymer solutions. Rubber, especially natural rubber, is one such polymer solution. Rubber has not been focused on until recently due to the fact that electrolytic polymerization has only a very small effect on rubber. However, when we focus on the C=C bonds of natural rubber, the same electrolytic polymerization is applicable to be enlarged on the natural rubber if a magnetic field and a filler are added. With the application of a magnetic field and a magnetic responsive fluid such as magnetic compound fluid (MCF), the effect of electrolytic polymerization on NR-latex such as plastic-type polymer solutions is enhanced, and the thickness of the vulcanized MCF rubber grows in a short time. The present new method of vulcanization of MCF rubber is effective enough that it is widely used in haptic sensors in various engineering applications. In the present report, as mechanical approach for the sensing, by measuring the temperature under electrolytic polymerization, by investigating the electric and dynamic characteristics, and by observing the magnified appearance of the MCF rubber, we clarified the extrinsic effects of many experimental conditions, including magnetic field strength, applied voltage, the electrodes gap, mass concentration, and the ingredients of the MCF. This report is Part 1, to be followed by another sequential report, Part 2, in which other intrinsic effects on the characteristics are dealt with. The experimental conditions used and the results obtained in the present report provide valuable data that will be useful in the making of MCF rubber.

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Piezoelements used in robotics require large elasticity and extensibility to be installed in an artificial robot skin. However, the piezoelements used until recently are vulnerable to large forces because of the thin solid materials employed. To resolve this issue, we utilized a natural rubber and applied our proposed new method of aiding with magnetic and electric fields as well as filling with magnetic compound fluid (MCF) and doping. We have verified the piezoproperties of the resulting MCF rubber. The effect of the created magnetic clusters is featured in a new two types of multilayered structures of the piezoelement. By measuring the piezoelectricity response to pressure, the synergetic effects of the magnetic clusters, the doping and the electric polymerization on the piezoelectric effect were clarified. In addition, by examining the relation between the piezoelectricity and the piezoresistivity created in the MCF piezo element, we propose a hybrid piezoelement.

The same ordinary electrolytic polymerization of plastic-type polymer solution is applicable to natural rubber, with its C=C bonds, if a magnetic field and a filler are added. With the application of a magnetic field and the magnetic responsive fluid known as magnetic compound fluid (MCF), we have clarified the enhancement of the electrolytic polymerization of NR-latex and the growth of the thickness of vulcanized MCF rubber that results from the addition of a magnetic field. The present new method of MCF rubber vulcanization is effective for use in haptic sensors, which are used widely in various engineering applications. In the previous report, part 1 of this study, we investigated many experimental conditions under mechanical approach for sensing: magnetic field strength; applied voltage; electrodes gap; mass concentration, and the ingredients of the MCF. In the present sequential report, part 2, we investigate many other effects on electrolytic polymerization by the same mechanical approach for sensing as in part 1: the Mullins effect; the Piezo effect; vibration; kind of electrode; atmospheric gas. In particular, we clarify that the voltage generates spontaneously in the MCF rubber and that the MCF rubber becomes a Piezo element. These effects on the electrolytic polymerization as well as the effects of the experimental conditions will be useful in engineering applications. By taking the abovementioned parameters and effects into account, MCF rubber that is electrolytically polymerized with the aid of a magnetic field, the use of MCF as a filler, and doping, can be useful in haptic sensor applications. In particular, the effectiveness of the Piezo element can be shown.