A Design of Fingertip Tactile Sensors

• Main Authors: Chang, Ying-Hwi, 張英輝
• Other Authors: Yu-Chung Huang
• Format: Others
• Language: zh-TW
• Published: 1998
• Online Access: http://ndltd.ncl.edu.tw/handle/64373195093553623389

博士 === 國立交通大學 === 電子工程學系 === 86 === Fingertip tactile sensors(FTS) which are equippped on the fingertips of robot hands can provide robot hands with the tactile information to perform dextrous manipulation. A major kind of FTS is composed of a fingertip-like structure and several strain transducers on the structure. The strain transducers measure the strains when the sensor touches an object. After calibration, a force vector can be calculated from the electrical outputs of the strain transducers. The tactile information, e.g. contact force magnitude, angle and contact point, can be derived from the force vector.Three primary difficulties for the FTS are encountered in the current design. First, due to the ill structural design, the conventional FTSs are sufferringmeasurement uncertainty and interferences on the calculation of the force vector. Second, the conventional calibration method is inefficient and expensiveto apply calibration force precisely. Third, the conventional fabricationtechnology is inefficient to implement the miniature FTS as small as a humanfingertip.Therefore, in this thesis, we propose two new structural designs, a precisecalibration method and considerations on miniature fabrication to resolvethe three difficulties.