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

Content Provider	IEEE Xplore Digital Library
Author	Byungjune Choi Sanghun Lee Hyouk Ryeol Choi Sungchul Kang
Copyright Year	2006
Description	Author affiliation: Sch. of Mech. Eng., Sungkyunkwan Univ., Gyeonggi-Do (Byungjune Choi; Sanghun Lee; Hyouk Ryeol Choi)
Abstract	In this paper, an anthropomorphic robot hand called SKKU Hand II is presented, which has a miniaturized fingertip tactile sensor. The thumb is designed as one part of the palm and provides 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 for the SKKU Hand II are embedded in the hand, and each driving circuit communicates with others using CAN protocol. In addition, a tactile sensing system is developed with miniaturized electronic hardwares such as charge amplifier, signal processing unit etc., and it is integrated into the robot hand. The SKKU Hand II is manufactured and feasibility of the hand and the fingertip tactile sensor is validated through preliminary experiments
Starting Page	3779
Ending Page	3784
File Size	1000819
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281763
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Anthropomorphism Robot sensing systems Tactile sensors Sensor arrays Resistors Ink Circuits Thumb Computational geometry Fingers Tactile sensor Anthropomorphic robot hand PVDF Thin flexible force sensor
Content Type	Text
Resource Type	Article

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