Protrusion Type Slip Detection Soft Sensor and Application to Anthropomorphic Robot Hand

摘要

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. As a result, the soft sensor proposed in this paper shows the advantage of being small in size and can be manufactured at low cost, and the possibility of manufacturing a sensor using soft material was confirmed