A novel, compliant, four degree-of-freedom, robotic fingertip sensor

A novel, low-cost, compliant fingertip sensor for robotic gripper applications is presented. The sensor is intended for use in grippers where force feedback information is needed, such as in clean room or space applications where telerobotic operation is desired. The fingertip is approximately the size of a male, adult thumb and is approximately as compliant as human flesh. The sensor was designed to optimize the sensitivity to four components of force/torque; the normal force, both tangential force terms, and torque about the normal axis. Finite-element analysis was used to optimize the shape of the fingertip and the location/size of the PVDF piezoelectric sensing elements. The authors present the design analysis and experimental results from evaluation of prototype sensors.<>