{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/77897"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/77897","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Robot gripper control system using PVDF piezoelectric sensors","abstract":"A novel robot gripper control system is presented which uses PVDF piezoelectric sensors to actively damp exerted force. By using a low-input-resistance amplifier to sense the current developed by the PVDF sensor, an output proportional to the rate of change of the force exerted by the gripper is obtained. The signals from the PVDF sensor and a strain gauge force sensor are arranged in a proportional and derivative (PD) control system for the control of force. The control system was tested on an instrumented Rhino XR-1 manipulator hand. The capabilities of the control system are analyzed analytically, and verified experimentally. The results for this particular gripper indicate that as much as 900% improvement in force step response rise time, and 300% reduction in overshoot are possible by inclusion of the PVDF sensor.","abstract_html":"A novel robot gripper control system is presented which uses PVDF piezoelectric sensors to actively damp exerted force. By using a low-input-resistance amplifier to sense the current developed by the PVDF sensor, an output proportional to the rate of change of the force exerted by the gripper is obtained. The signals from the PVDF sensor and a strain gauge force sensor are arranged in a proportional and derivative (PD) control system for the control of force. The control system was tested on an instrumented Rhino XR-1 manipulator hand. The capabilities of the control system are analyzed analytically, and verified experimentally. The results for this particular gripper indicate that as much as 900% improvement in force step response rise time, and 300% reduction in overshoot are possible by inclusion of the PVDF sensor.","abstract_has_math":false,"creators":["Barsky, Michael F."],"institution":"Virginia Polytechnic Institute and State University","degree_name":"Master of Engineering","degree_level":"masters","degree_discipline":"Electrical Engineering","degree_department":"Electrical Engineering","school":null,"contributors":[],"advisors":[],"committee_chairs":[],"committee_members":[],"year":1986,"date_issued":"1986","date_published":"1986","updated_at":"2026-07-22T22:20:38Z","subjects":[],"languages":["en_US"],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/10919/77897","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.department","label":"Department","values":["Electrical Engineering"]},{"key":"dc:creator","label":"Author","values":["Barsky, Michael F."]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2017-06-05T19:26:53Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2017-06-05T19:26:53Z"]},{"key":"dc:date.issued","label":"Date","values":["1986"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Polytechnic Institute and State University"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"dc:type.dcmitype","label":"Dc Type Dcmitype","values":["Text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Engineering"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["en_US"]},{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/77897"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["A novel robot gripper control system is presented which uses PVDF piezoelectric sensors to actively damp exerted force. By using a low-input-resistance amplifier to sense the current developed by the PVDF sensor, an output proportional to the rate of change of the force exerted by the gripper is obtained. The signals from the PVDF sensor and a strain gauge force sensor are arranged in a proportional and derivative (PD) control system for the control of force. The control system was tested on an instrumented Rhino XR-1 manipulator hand. The capabilities of the control system are analyzed analytically, and verified experimentally. The results for this particular gripper indicate that as much as 900% improvement in force step response rise time, and 300% reduction in overshoot are possible by inclusion of the PVDF sensor."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Master of Engineering"]},{"key":"dc:format.mimetype","label":"Dc Format Mimetype","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Robot gripper control system using PVDF piezoelectric sensors"]}]}],"canonical_facts":{"dc:contributor.department":["Electrical Engineering"],"dc:creator":["Barsky, Michael F."],"dc:date.accessioned":["2017-06-05T19:26:53Z"],"dc:date.available":["2017-06-05T19:26:53Z"],"dc:date.issued":["1986"],"dc:description.abstract":["A novel robot gripper control system is presented which uses PVDF piezoelectric sensors to actively damp exerted force. By using a low-input-resistance amplifier to sense the current developed by the PVDF sensor, an output proportional to the rate of change of the force exerted by the gripper is obtained. The signals from the PVDF sensor and a strain gauge force sensor are arranged in a proportional and derivative (PD) control system for the control of force. The control system was tested on an instrumented Rhino XR-1 manipulator hand. The capabilities of the control system are analyzed analytically, and verified experimentally. The results for this particular gripper indicate that as much as 900% improvement in force step response rise time, and 300% reduction in overshoot are possible by inclusion of the PVDF sensor."],"dc:description.degree":["Master of Engineering"],"dc:format.mimetype":["application/pdf"],"dc:identifier.uri":["http://hdl.handle.net/10919/77897"],"dc:language.iso":["en_US"],"dc:publisher":["Virginia Polytechnic Institute and State University"],"dc:rights":["In Copyright"],"dc:rights.uri":["http://rightsstatements.org/vocab/InC/1.0/"],"dc:title":["Robot gripper control system using PVDF piezoelectric sensors"],"dc:type":["Thesis"],"dc:type.dcmitype":["Text"],"thesis:degree_discipline":["Electrical Engineering"],"thesis:degree_level":["masters"],"thesis:degree_name":["Master of Engineering"],"thesis:institution_name":["Virginia Polytechnic Institute and State University"]},"updated_at":"2026-07-22T22:20:38Z"}