Capacitive Tactile Sensor with Slip Detection Capabilities for Robotic Applications

被引：0

作者：

Narendiran, A. ^{[1
]}

George, Boby ^{[1
]}

机构：

[1] Indian Inst Technol, Dept Elect Engn, Madras, Tamil Nadu, India

来源：

2015 IEEE INTERNATIONAL INSTRUMENTATION AND MEASUREMENT TECHNOLOGY CONFERENCE (I2MTC) | 2015年

关键词：

Tactile sensor; Capacitive sensor; Slip detection; Force measurement;

D O I：

暂无

中图分类号：

TH7 [仪器、仪表];

学科分类号：

0804 ; 080401 ; 081102 ;

摘要：

In this paper we report a 3D tactile sensor with slip detection capabilities for robotic applications. The sensor translates a change in force to a change in air-gap which leads to a change in capacitance. The proposed sensor models the contact force as a polynomial function of measured capacitance. Finite element analysis was done on the proposed sensor design and its characteristics were studied. The prototype sensor developed was tested and found to provide an output corresponding to the applied contact force with reasonable accuracy and high repeatability and detect slip. The sensor can be easily manufactured and assembled at low cost.

引用

页码：464 / 469

页数：6

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