Prototyping of a child-type android hand with tactile sensors and bones

Abstract

Sensorized realistic hands are important for android robots to realize physical human-robot interaction. In this study, we developed a prototype hand with tactile sensors and bone parts for a child android robot Affetto. Soft inductive tactile sensors were mounted on the palm bone part and free joints were implemented on fingers. We investigated the sensitivity of the sensors and found that they can detect slight human touch. Additionally, we interviewed 13 human participants on tactile impression of the hand and found that its realistic impression was not deteriorated by the embedded tactile sensors but deteriorated by surface properties such as tackiness and tension, and by movable directions of finger joints.