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Proceedings Paper

A flexible fingertip tactile sensor
Author(s): Duk Sang Kim; Nguyen Huu Chuc; Sung Moon Jin; Kuang Jun An; Vuong Hong Phuc; Jachoon Koo; Youngkwan Lee; Jae-Do Nam; Hyouk Ryeol Choi
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Paper Abstract

Tactile information is prerequisite for dexterous manipulation of objects with robots. In this paper a novel tactile sensor using dielectric elastomer is presented. The sensor is a capacitive type and it can be easily covered onto any curved surface due to the intrinsic flexibility of the dielectric elastomer. The practical design and fabrication of a tactile sensor for the robot fingertip are described in details in this paper. Also,a fingertip shaped tactile sensor with twelve tactile cells is developed. The sensor is mounted on a multi-fingered robot hand, called "SKKU Hand III", and its effectiveness is validated with experimental results.

Paper Details

Date Published: 9 April 2010
PDF: 9 pages
Proc. SPIE 7642, Electroactive Polymer Actuators and Devices (EAPAD) 2010, 76420F (9 April 2010); doi: 10.1117/12.847399
Show Author Affiliations
Duk Sang Kim, Sungkyunkwan Univ. (Korea, Republic of)
Nguyen Huu Chuc, Sungkyunkwan Univ. (Korea, Republic of)
Sung Moon Jin, Sungkyunkwan Univ. (Korea, Republic of)
Kuang Jun An, Sungkyunkwan Univ. (Korea, Republic of)
Vuong Hong Phuc, Sungkyunkwan Univ. (Korea, Republic of)
Jachoon Koo, Sungkyunkwan Univ. (Korea, Republic of)
Youngkwan Lee, Sungkyunkwan Univ. (Korea, Republic of)
Jae-Do Nam, Sungkyunkwan Univ. (Korea, Republic of)
Hyouk Ryeol Choi, Sungkyunkwan Univ. (Korea, Republic of)


Published in SPIE Proceedings Vol. 7642:
Electroactive Polymer Actuators and Devices (EAPAD) 2010
Yoseph Bar-Cohen, Editor(s)

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