Robot Soft Grabbing with New Piezoresistive Tactile Sensor

Abstract:

A type of tactile sensors based on piezoresistive principle is designed for the robot grab force detection and control. According to human behaves and awareness, the robot grabbing control program imitate human hand grasp active perception and action mechanisms. With the tactile sensors, the slip and grasping process pressure signal is sampled and analysed by general time-domain statistical parameter, and a simpler control algorithm is researched. In the experiment the robot has accomplished soft grabbing by modeling human hand action and applied appropriate grabbing force on objects of different weights or material by means of the control algorithm. Experiments suggest that this sensor and action biomimetic process is suitable to be used in the tele-presence technology application in the case of the visible range or visual equipment aid especially.

• Periodical: Advanced Materials Research (Volume 744)
• Pages: 501-504
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.744.501
• Online since: August 2013
• Authors: Jin Jun Chen, Ting Xiang
• Keywords: Bionic, Piezoresistance, Robot, Soft Grabbing, Tactile Sensor

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