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http://dx.doi.org/10.5302/J.ICROS.2006.12.6.594

Development of Anthropomorphic Robot Hand with Tactile Sensor: SKKU Hand II  

Choi Byung-June (성균관대학교 기계공학부)
Lee Sang-Hun (성균관대학교 기계공학부)
Kang Sung-Chul (한국과학기술연구원)
Choi Hyouk-Ryeol (성균관대학교 기계공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.6, 2006 , pp. 594-599 More about this Journal
Abstract
In this paper an anthropomorphic robot hand called SKKU Hand IIl is presented, which has a miniaturized fingertip tactile sensor. The thumb is designed as one part of the palm and multiplies the mobility of the palm. The fingertip tactile sensor, based on polyvinylidene fluoride (PVDF) and pressure variable resistor ink, is physically flexible enough to be deformed into any three-dimensional geometry. In order to detect incipient slip, a PVDF strip is arranged along the direction normal to the surface of the finger of the robot hand. Also, a thin flexible sensor to sense the static force as well as the contact location is fabricated into an arrayed type using pressure variable resistor ink. The driving circuits and the tactile sensing systems for the SKKU Hand II are embedded in the hand. Each driving circuit communicates with others using CAN protocol. SKKU Hand II is manufactured and its feasibility is validated through preliminary experiments.
Keywords
anthropomorphic robot hand; thumb; PVDF; thin flexible force sensor; tactile sensor;
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Times Cited By KSCI : 3  (Citation Analysis)
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