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Three-Axis Contact Force Measurement of a Flexible Tactile Sensor Array for Hand Grasping Applications

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Wearable Sensors and Robots

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 399))

Abstract

This chapter explores the development of a flexible tactile sensor array based on pressure conductive rubber for three-axis force measurement in grasping application. The structural design, testing principle, fabrication process, and characterization of the tactile sensor array are presented. Three-axis force measurement performances for all nine sensing units have been carried out. The full-scale force measurement ranges of the tactile sensor array in x-, y- and z-axis are 5, 5, and 20 N, respectively. The corresponding sensitivities in x- and y-axis are 0.838 and 0.834 V/N, respectively. In z-axis, the sensor array has two sensitivities: 0.3675 V/N for 0–10 N and 0.0538 V/N for 10–20 N measurement ranges. Then, the tactile sensor array has been mounted onto a human hand finger and used to measure the real-time 3D contact forces during grasping application. Results showed that the developed tactile sensor array features high sensitivities and has the potential for real-time tactile images for gripping positioning and 3D grasping force feedback control in grasping applications.

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Acknowledgments

The author would like to acknowledge the supports from the National Basic Research Program (973) of China (2011CB013300), National Natural Science Foundation of China (51105333), Science Fund for Creative Research Groups of National Natural Science Foundation of China (51221004), and the Fundamental Research Funds for the Central Universities (2015QNA4004).

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Authors and Affiliations

  1. Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China

    Yancheng Wang, Kailun Xi, Deqing Mei, Zhihao Xin & Zichen Chen

  2. State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China

    Yancheng Wang, Deqing Mei & Zichen Chen

Authors
  1. Yancheng Wang
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  2. Kailun Xi
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  3. Deqing Mei
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  4. Zhihao Xin
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  5. Zichen Chen
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Corresponding author

Correspondence to Yancheng Wang .

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Editors and Affiliations

  1. Department of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China

    Canjun Yang

  2. University of Gävle, Gävle, Sweden

    G. S. Virk

  3. Zhejiang University, Department of Mechanical Engineering, Hangzhou, Zhejiang, China

    Huayong Yang

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© 2017 Zhejiang University Press and Springer Science+Business Media Singapore

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Wang, Y., Xi, K., Mei, D., Xin, Z., Chen, Z. (2017). Three-Axis Contact Force Measurement of a Flexible Tactile Sensor Array for Hand Grasping Applications. In: Yang, C., Virk, G., Yang, H. (eds) Wearable Sensors and Robots. Lecture Notes in Electrical Engineering, vol 399. Springer, Singapore. https://doi.org/10.1007/978-981-10-2404-7_6

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  • DOI: https://doi.org/10.1007/978-981-10-2404-7_6

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-2403-0

  • Online ISBN: 978-981-10-2404-7

  • eBook Packages: EngineeringEngineering (R0)

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