Jamming gripper with tactile function based on four terminal method

Abstract

In this study, we attempt to make a jamming gripper, which grasps objects of various shapes, acquire tactile information. In particular, we aim to improve the accuracy of tactile sensing by measuring the conductivity of conductive powder using the four-terminal method. The four-terminal method measures only the voltage drop due to the object being measured, and we report that the sensor variability is reduced compared to the conventional two-terminal method.