Sensing Ability of Anthropomorphic Fingertip with Multi-Modal Sensors
نویسندگان
چکیده
This paper presents a unique design for tactile sensing: embedding as many receptors as possible randomly in soft material so as to provide different kinds of sensing modalities. Based on this design principle, an anthropomorphic fingertip has been developed. The fingertip consists of two silicon rubber layers of different hardness containing two kinds of receptors, strain gauges and PVDF (polyvinylidene fluoride) films distributed randomly as receptors. The experimental results are shown to demonstrate its sensing ability such as object discrimination.
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