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9 April 2010 A flexible fingertip tactile sensor
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Abstract
Tactile information is prerequisite for dexterous manipulation of objects with robots. In this paper a novel tactile sensor using dielectric elastomer is presented. The sensor is a capacitive type and it can be easily covered onto any curved surface due to the intrinsic flexibility of the dielectric elastomer. The practical design and fabrication of a tactile sensor for the robot fingertip are described in details in this paper. Also,a fingertip shaped tactile sensor with twelve tactile cells is developed. The sensor is mounted on a multi-fingered robot hand, called "SKKU Hand III", and its effectiveness is validated with experimental results.
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Duk Sang Kim, Nguyen Huu Chuc, Sung Moon Jin, Kuang Jun An, Vuong Hong Phuc, Jachoon Koo, Youngkwan Lee, Jae-Do Nam, and Hyouk Ryeol Choi "A flexible fingertip tactile sensor", Proc. SPIE 7642, Electroactive Polymer Actuators and Devices (EAPAD) 2010, 76420F (9 April 2010); https://doi.org/10.1117/12.847399
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