Development of Direct-printed Tactile Sensors for Gripper Control through Contact and Slip Detection

  • Ju-Kyoung Lee
  • Hyun-Hee Kim
  • Jae-Won Choi
  • Kyung-Chang Lee
  • Suk Lee
Regular Paper Robot and Applications
  • 18 Downloads

Abstract

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.

Keywords

Direct-print multi-walled carbon nanotube robot gripper signal processing slip detection tactile sensor 

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Ju-Kyoung Lee
    • 1
  • Hyun-Hee Kim
    • 2
  • Jae-Won Choi
    • 3
  • Kyung-Chang Lee
    • 2
  • Suk Lee
    • 1
  1. 1.School of Mechanical EngineeringPusan National UniversityBusanKorea
  2. 2.Department of Control and Instrumentation EngineeringPukyung National UniversityBusanKorea
  3. 3.Department of Mechanical EngineeringThe University of AkronAkronUSA

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