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Development of robotic hand tactile sensing system for distributed contact force sensing in robotic dexterous multimodal gras**

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Abstract

Perceiving distributed tactile information during robotic dexterous gras** process is essential to improve its intelligence and automation. This paper presents a tactile sensing system for a multi-fingered robotic hand, and used to detect distributed contact forces andtactile information during robotic hand dexterous multimodal gras** applications. The tactile sensing system relies on the design of tactile sensors with multiple sensing units and is integrated onto robotic thumb, index and middle fingers, respectively. For robotic dexterous gras**, six types of gras** modes are selected and performed objects’ gras** experiments. Using the developed robotic hand tactile sensing system, the generated contact forces during gras** processes are recorded. Through analyzing the robotic hand grasp actions in each gras** mode, the characteristics of the detected tactile forces can be studied and compared, which can be used as the factor to further distinguish the different gras** modes. Therefore, our developed robotic hand tactile sensing system can provide the possibility to accurately measure the distributed contact forces during robotic hand dexterous manipulation applications, and be used for analyzing the relationship between tactile information characteristics and gras** mode movements.

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Acknowledgements

This work is supported in part by the Zhejiang Provincial Funds for Distinguished Young Scientists of China (LR19E050001), National Natural Science Foundation of China (52175522), Key Research and Development Program of Zhejiang Province (2022C01041).

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Authors and Affiliations

  1. State Key Lab of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China

    Yancheng Wang & Deqing Mei

  2. Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China

    Congcong Mu & Shihang Wang

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  1. Congcong Mu
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  2. Yancheng Wang
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  3. Deqing Mei
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Correspondence to Yancheng Wang.

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Mu, C., Wang, Y., Mei, D. et al. Development of robotic hand tactile sensing system for distributed contact force sensing in robotic dexterous multimodal gras**. Int J Intell Robot Appl 6, 760–772 (2022). https://doi.org/10.1007/s41315-022-00260-0

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