Tactile sensor for detecting slip is essential to grasp an object safely in a robot hand with a complicated structure and various functions. In this paper, sensors with three patterns in different forms are designed to sense slip moment through a resistance change. The slip sensors developed in this paper have flexible and stretchable characteristics to be used on the robot hand surface. For realizing these characteristics, acrylonitrile-butadiene rubber (NBR) is used as a substrate of the sensor. Graphene material is employed bacause of suitable for flexible substrate as an electrode. An imprint process to produce a micro-unit sensor structure is newly developed. As a result, sensors can have an extremely small structure like human fingerprint. Experiments for performance of the developed sensors are conducted. In addition, a stretchable and fatigue tests are conducted to verify the performance of sensors with a flexible characteristic like the human skin.
- Information Storage and Processing Systems Division
Detection of Slippage Using Flexible Tactile Sensor for a Robot Fingertip
Kim, SJ, Choi, JY, Moon, HP, Choi, HR, & Koo, JC. "Detection of Slippage Using Flexible Tactile Sensor for a Robot Fingertip." Proceedings of the ASME 2016 Conference on Information Storage and Processing Systems. ASME 2016 Conference on Information Storage and Processing Systems. Santa Clara, California, USA. June 20–21, 2016. V001T07A011. ASME. https://doi.org/10.1115/ISPS2016-9567
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