Design of a Finger-Tip Flexible Tactile Sensor for an Anthropomorphic Robot Hand

In this study, a thin and flexible tactile sensor using pressure-conductive rubber for a HIT/DLR Hand II dextrous robot hand is developed. A method of the curved surface approximate development is used to design the sensor shape, ensuring that the sensor can fine cover the three-dimensional (3D) finger-tip surface. In order to weaken crosstalk current and simplify electrical circuit of the sensor, a sampling-voltage-feedback-non-target-scanned-sampling-electrode (SVFNTSSE) method is proposed. Then a structure of tactile signal acquisition and processing circuit based on this method is described. Finally, the experiment of weakening crosstalk based on the SVFNTSSE method verifies the validity of this method, and the results of the other experiment show that this sensor system has integrated into the dextrous robot hand.

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