A distributing and decoupling method of microminiature multi-dimension robot finger force sensor

In order to acquire the interaction force between fingers of robot and the grasped object more accurately, this paper develops a kind of novel multi-dimension finger force sensor used in robots. This sensor uses double E-type diaphragm structure, according to the characteristic of force bearing and different bridge connection modes, it solves contradiction between the microminiatured of the multi-dimension finger force sensor and elastic body structure design, stain gauge arrangement, bridge connection modes. Experiments are conducted with the developed multi-dimension finger force sensor, and the results show this sensor has simple structure, good linearity, low coupling between dimensions and easy calibration characteristics.