Tendon actuated exploratory finger with polymeric, skin-like tactile sensor

摘要

To investigate basic issues related to tactile sensing for robots, a sensorized scenario has been devised which comprises a multisensor static platform and a tendon actuated, 4 degree-of-freedom exploratory finger. Multiple sensory information is fed to the finger control unit: most significant is that obtained through a composite, skinlike tactile sensor, developed in our laboratory and based on the technology of ferroelectric polymers. In this paper we discuss the design and describe some components of our sensorized scenario. The main features of the articulated exploratory finger are presented and a hybrid type of control, purposely devised for object exploration with tactile feedback, is outlined. Emphasis is also given to the discussion of design criteria for skin-like tactile sensors and to the description of the fingertip multifunctional ferroelectric polymer tactile sensor. Finally, some preliminary experimental results are presented.