Yebin Park1,Dongbeom Kim1,Jaehyun Kim1,Wonjeong Suh1,Unyong Jeong1
Pohang University of Science and Technology1
Yebin Park1,Dongbeom Kim1,Jaehyun Kim1,Wonjeong Suh1,Unyong Jeong1
Pohang University of Science and Technology1
To successfully replicate complex human tasks, a robotic hand capable of dexterous object manipulation such as grasping, object reorientation, texture perception, and slip detection is urgently demanded. Among various object manipulation performances, slip detection is the key performance that a dexterous robotic hand should acquire to achieve successful interaction between the object and the robotic hand. In the past decade, numerous artificial tactile sensors for robotic hands have shown vast progress in slip detection and grasping. However, slip detection of these sensors mainly relies on the normal force at the contact position without considering tangential force, which only provides limited slip information. In this work, the deformable ion gel strain sensor array and the piezoresistive pressure sensor array are integrated into a single device to obtain spatial distributions of the tangential shear strain and the normal force at the contact area. The tangential shear strain profile from the ion gel strain sensor array provides a visual representation of various slip occasions, such as translational and rotational slip, through changes in the shape and size of the strain fields. Additionally, the normal force profile from the piezoresistive pressure sensor array allows tracking of contact position and normal force distribution. Moreover, a frictionless interface between sensor arrays was achieved through the use of talc particles. The strain sensor array can accommodate deformation from slip more freely through the frictionless interface, which is crucial for a more accurate shear strain profile. Furthermore, the deformable tactile sensor arrays were attached to the robot gripper to demonstrate effective contact analysis on both translational and rotational slip occasions.