Anthropomorphic robotic soft fingertip with randomly distributed receptors

被引：167
作者：
Hosoda, K
Tada, Y
Asada, M
机构：
[1] Osaka Univ, Grad Sch Engn, Dept Adapt Machine Syst, Suita, Osaka 5650871, Japan
[2] Osaka Univ, Handai Frontier Res Ctr, Osaka, Japan
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2006年 / 54卷 / 02期
关键词：
anthropomorphic finger; soft finger; tactile sensor; material discrimination; distributed receptors;
D O I：
10.1016/j.robot.2005.09.019
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
To improve the manipulation ability of robotic fingers, this paper proposes a design of an anthropomorphic soft fingertip with distributed receptors. The fingertip consists of two silicon rubber layers of different hardness containing two kinds of receptors, strain gauges and PVDF (polyvinylidene fluoride) films. The structure of the fingertip is similar to that of a human's; it consists of a bone, a body, a skin layer, and randomly distributed receptors inside. Experimental results demonstrate the discriminating ability of the fingertip: it can discriminate five different materials by pushing and rubbing the objects. (c) 2005 Elsevier B.V. All rights reserved.
引用
收藏
页码：104 / 109
页数：6
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