Research of a novel miniature tactile sensor for five-finger dexterous robot hand

Abstract

This paper presents a novel miniature tactile sensor of DLR/HIT II dexterous robot hand and outlines the calibration experiments performed. The sensor is based on a piezoresistive mechanism with a highly integrated and miniaturized design. The operating principle of the proposed sensor is explained. The elastic architecture of the proposed sensor is also described. Multiple electrodes are mounted on the the sensor, with rows-column scanning for the acquisition sensor data. The sensor has a large resistance range from 16kΩ to 920kΩ. The experimental results have demonstrated a measurement range of up to approximately 600kPa. The calibration results indicate clear linearity within the measured range.