Characteristics of tactile sensor and movement detection of attached object

摘要

To realize a dexterous robot hand, we must acquire information at the robot's fingertips. A tactile sensor has been developed for dexterous robot hands. Since this tactile sensor consists of multiple three-axis force sensors with strain gauges, it enables to get force and torque information at robot's fingertips. In this paper, the static characteristics of the three-axis force sensor that is a part of the tactile sensor are demonstrated, and the best experimental method to obtain accurate and precise force values is proposed. Furthermore, theoretical and experimental results of attached object movement detection with this tactile sensor are described in this paper.