J-016

Development of Double-octagon Tactile Sensor for Grasping Control

Authors: Shigeki Nakayama*, Peng Chen**, Toshihiko Matsumiya**, Toshio Toyota**
Affiliation: *Yonago National College of Technology, **Kyushu Institute of Technology

Abstract
An intelligent robot hand must be able to grasp a variety of objects, such as a fragile egg, a heavy iron and so on. It must be also able to have the ability as the man hand to finish a job on the basis of tactile information detected by tactile sensors. In order to realize the sensor for intelligent hand, the contradiction problem between strength and sensitivity of the tactile sensor must be resolved. To resolve this requirement, we propose a new type tactile sensor called "Double-octagon Tactile Sensor (D.O.T.S.)" for the intelligent robot hand. This sensor has high sensitivity and strength, and can precisely sense the grasping force and shearing force between a grasped object and the finger. This paper describes the structure, design and sensing principle of the D.O.T.S., and shows application to prove the effectiveness of D.O.T.S.

*Yonago National College of Technology
4448, Hikona, Yonago, Tottori, 683-8502 Japan
**Kyushu Institute of Technology
680-4,Kawazu, Iizuka, Fukuoka, 820-8502 Japan

Shigeki Nakayama
nakayama@yonago-k.ac.jp

Peng Chen
chen@mse.kyutech.ac.jp