Development of Direct-printed Tactile Sensors for Gripper Control through Contact and Slip Detection
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This work demonstrates the use of printed tactile sensors for detection of contact location and slip in a robot gripper. Research and development of robots for behaviors similar to those of humans are being conducted by many institutions. For these robot systems, flexible tactile sensors imitating human tactile senses have been developed and applied to robots. The sensors used in this work were fabricated through a direct-print process using a multi-walled carbon nanotube (MWCNT)/polymer composite. These sensors are a resistance type and were characterized by detecting changes in resistance of MWCNT networks within the composite in response to external forces. With tactile sensors attached to gripper fingers, signals generated when the gripper grasped objects were analyzed and the resulting information was used for robot gripper control.
KeywordsDirect-print multi-walled carbon nanotube robot gripper signal processing slip detection tactile sensor
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