Development of A New Kind of Robot Slipping Sensor

A novel force/position sensor based on FPSR¿ (Force Position Sensing Resistor) has been developed which can measure the normal force to the sensor surface and the position where the force is applied. The compact SMD circuitry was located in the back of the sensor to process the initial signals and send it to the other interface circuits. The sensing area is 0.5 in × 4.0 in. The minimum detecting force and position resolution are 50g and ± 0.15mm respectively. Because of its fast response to the physical contact (2.2 ms) and high displacement resolution, the FPSR¿ is a good candidate for dexterous robot hand to detect the contact force and the slipping between robot hand and a grasping object. With this kind of sensor, some object grasping and holding experiments have been implemented successfully.