A Multimodal Embedded Sensor System for Scalable Robotic and Prosthetic Fingers

Abstract

The development of dexterous and robust anthropomorphic hands with rich sensor feedback remains a challenging task for both humanoid robotics as well as prosthetics as of today. The design of hands that are scalable in size and equipped with integrated multimodal sensor systems is a key requirement for advanced control schemes and reactive behaviour. In this paper, we present the design of a scalable and low cost robotic finger with a soft fingertip and position, temperature as well as normal and shear force sensors. All cables and sensors are completely enclosed inside the finger to ensure an anthropometric appearance. The finger is modelled based on a 50 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">th</sup> percentile male little finger and can be easily adapted to other dimensions in terms of size and sensor system configuration. We describe the design of the sensor system, provide an experimental analysis for the characterization of the different sensor types in terms of sensor range, resolution, creep, spatial response as well as temperature flux.