ROBOT FINGERTIP MODULE FOR MEASURING CONTACT FORCE AND LOCATION

Dong-Ki Kim, Jong-Ho Kim, Yon-Kyu Park, Young-Ha Kwon

Abstract

This paper presents an exchangeable and inexpensive robot fingertip module for tactile sensing for the control of the robot hands. The developed module has real human fingertip scale and shape, and can detect contact force and location simultaneously. It has a thin-film type force sensor constructed with 37 unit cells as array, and it also includes a simple on-board chip for signal processing. The sensors are fabricated by using a simple screen printing technique. The whole fabrication process of the module including sensor and signal processing parts are suitable for mass production because of its very simple and low-cost process.

Keywords

robot hand, tactile sensor, interaction, mass production

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IMEKO-WC-2012-TC17-O5.pdf

DOI

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IMEKO TC

TC17 - Measurement in Robotics

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