tailieunhanh - Sensors, Focus on Tactile, Force and Stress Sensors_2

This book describes some devices that are commonly identified as tactile or force sensors. This is achieved with different degrees of detail, in a unique and actual resource, through the description of different approaches to this type of sensors. Understanding the design and the working principles of the sensors described here requires a multidisciplinary background of electrical engineering, mechanical engineering, physics, biology, etc. | 13 Development of Anthropomorphic Robot Hand with Tactile Sensor SKKU Hand II Byung June Choi Jooyoung Chun and Hyouk Ryeol Choi School of Mechanical Engineering Sungkyunkwan University Korea 1. Introduction Recently robots have begun to perform various tasks on replacing the human in the daily life such as cleaning entertainments etc. In order to accomplish the effective performance of intricate and precise tasks robot hand must have special capabilities such as decision making in given condition autonomy in unknown situation and stable manipulation of object. It must also possess tactile information to be able to carry out complicated manipulative tasks in a natural environment. Consequently the tactile sensor is required to support natural interaction between the robot and the environment. Many researches on the tactile sensing and the anthropomorphic multi-fingered robot hand have been reported up to now. Dario et al. developed Artificial tactile sensing system for a robot finger Dario Buttazzo 1987 . The system is able to detect the contact force the vibration and the variation of temperature like mechanoreceptor of the human by arranging PVDF films that possess piezoelectricity and pyroelectricity. Howe et al. developed a dynamic tactile sensor that can detect slippage by means of the change of stresses due to deformation of the contact with the object Howe Cutkosky 1993 . Maeno et al. presented a tactile sensor called artificial finger skin based on PVDF Fusjimoto et al. 1999 Yamano et al. 2003 . The sensor capable of detecting the incipient slip was designed to possess the characteristics similar to that of the human finger. Hosoda et al. reported a soft fingertip with two layers made of different kinds of silicon rubbers Hosoda et al. 2003 . The Utah MIT hand developed by Jacobsen et al. is driven by actuators that are located in a place remote from the robot hand frame and connected by tendon cables Jacobsen et al. 1984 Jacobsen et al. 1988 . Hirzinger et