Abstract
In this study, a soft protrusion type sensor that can detect slip was designed. In general, gripper or robot hand receives additional information using vision system, force sensor, and tactile sensor to stably grip an object. These sensors require a lot of cost to manufacture, and the grippers that can be applied are limited. Therefore, in order to overcome this limitation, a soft sensor that has low manufacturing cost and can be applied to various grippers was manufactured using strain gauges and silicon. The performance of the proposed two types of soft sensors was confirmed through slip detection experiments. In addition, it was confirmed whether grasping could be performed after inserting a soft sensor into the distal phalanges by fabricating a four-finger anthropomorphic robot hand.
| Original language | English |
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| Title of host publication | 2021 24th International Conference on Mechatronics Technology, ICMT 2021 |
| Editors | JJ Chong, Quang Dinh Truong |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (Electronic) | 9781665424592 |
| DOIs | |
| State | Published - 2021 |
| Event | 24th International Conference on Mechatronics Technology, ICMT 2021 - Singapore, Singapore Duration: 18 Dec 2021 → 22 Dec 2021 |
Publication series
| Name | 2021 24th International Conference on Mechatronics Technology, ICMT 2021 |
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Conference
| Conference | 24th International Conference on Mechatronics Technology, ICMT 2021 |
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| Country/Territory | Singapore |
| City | Singapore |
| Period | 18/12/21 → 22/12/21 |
Bibliographical note
Publisher Copyright:© 2021 IEEE.
Keywords
- anthropomorphic gripper
- friction sensor
- robot hand
- soft material