A modular fingertip design for normal force feedback control of a 3-fingered dextrous robotic hand

Despite the advances in dextrous hand mechanics over the past decade, fingertip force remains predominantly controlled by flexor cable tension and joint position. A modular fingertip normal force sensor is developed here from basic semiconducting elastomer devices. Construction techniques are defined to shape standard Interlink Force Sensitive Resistors within a conformal mold of the human thumb and provide standard plug-in capability. Current-to-voltage electronic circuits are incorporated to linearize output and minimize the total sensor package. The sensor system is installed on each of three fingers and demonstrated to provide full control in elementary grasping strategies of a robotic hand.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

Masters

Discipline thesis:degree_discipline

Engineering

Grantor

Rice University

Year dc:date.issued

1992

Author dc:creator

• Grisham, Joe Paul

Advisor dc:contributor.advisor

• Cheatham, John B., Jr.

• Mechanical engineering
• Electronics
• Electrical engineering

Statement dc:rights

• Copyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.

Language dc:language.iso

eng

Handle dc:identifier.uri

https://hdl.handle.net/1911/13653

OAI identifier oai:identifier

oai:repository.rice.edu:1911/13653