Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 54, Issue 2, Pages 104-109Publisher
ELSEVIER
DOI: 10.1016/j.robot.2005.09.019
Keywords
anthropomorphic finger; soft finger; tactile sensor; material discrimination; distributed receptors
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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.
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