Abstract
In this article, a flexible tactile sensor that made of conductive silicone rubber for dexterous robot hand is designed. The tactile sensor is made up of four microsensors. The maximum gripping force is simulated when the degree of a robot finger joint is 138. Meanwhile, a control system to analyze the creep and hysteresis characteristics and a processing system of the tactile sensor is designed. We also demonstrated an experiment for the application of robot grasp object, showing the finger’s flexibility and sensitivity. Then the feedback data is sent to control system to provide precise grasp action changes for the robot hand.
Highlights
Robot technology is a significant step in the development of the world today
We demonstrated an experiment for the application of robot grasp object, showing the finger’s flexibility and sensitivity
In the “Design of the finger” section, the tactile sensor and robot finger designing will be described, and some characteristics of the tactile sensor are presented in the “Dynamic characteristics analysis and discussion” section; preliminary practical experiment will be presented in the “Robot tactile sensor finger grasp experiment” section
Summary
Robot technology is a significant step in the development of the world today. Robots need a variety of sensors to coordinate the activities to complete the task, obtaining the perception of the external environment.[1]. Their experimental results show that the range of contact force of flexible tactile sensor is 0.1–10 N Their control system is more complicated than others, and there is no specific example applied to the robot hand. They proposed a bold innovation that a flexible tactile skin used a photovoltaic cell as a building block for energy-autonomous They tested the tactile skin was installed on a robot hand, to grabbing of soft objects in application capabilities. Nassar et al.[23] did a similar study They proposed a new manufacturing method to obtain an intelligent sensing flexible structure with printed strain sensors and interconnected to obtain embedded electronic components. In the “Design of the finger” section, the tactile sensor and robot finger designing will be described, and some characteristics of the tactile sensor are presented in the “Dynamic characteristics analysis and discussion” section; preliminary practical experiment will be presented in the “Robot tactile sensor finger grasp experiment” section
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