印刷型フレキシブル圧力センサアレイを用いたロボットハンドの触覚機能

抄録

In this work, a pressure sensor was manufactured by a simple screen-printing method and used as a tactile sensor for a robot gripper. Two-dimensional pressure mapping information was obtained by arranging the sensors in a 4x4 array. By integrating with a wireless communication circuit equipped with a Bluetooth Low Energy (BLE) module, it can be easily attached to a robot gripper. The gripping force of the robot gripper was controlled using the obtained sensing information, and non-destructive gripping of soft objects was realized.