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This letter proposes a sheet-shaped force sensor for covering a robot fingertip. The sensor consists of flexible materials and can be adaptively designed to the shape of the fingertip. When a load acts on the sensor, the contact position and both normal and tangential forces can be detected. Experimental results show the sensor characteristics as follows: The contact position can be estimated in high...
Slip-detecting tactile sensors are essential for achieving human-like gripping motion with a robot hand. In previous research, we developed a flexible, thin and lightweight slip sensor that exploits a resistance change of the pressure conductive rubber. This sensor distinguishes between both contact and initial slip by using a complicated resistance change just before slippage of object is generated...
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