SOFT FINGER WITH BUILT-IN TACTILE SENSOR

摘要

PROBLEM TO BE SOLVED: To provide a soft finger with a built-in tactile sensor which accurately grasps a friction coefficient of an article to be gripped, and is applicable to a robot hand in a medical field and the like. SOLUTION: Fingers 2, 2 of a robot hand 1 are formed into a hollow shape having a curved face with a covering element 7 at a tip projected outward by silicone rubber. Tactile sensors 19, 19 and the like comprising a coil spring 9 with a strain gage for detecting a bending moment and a strain gage for detecting a torsion moment adhering thereto are installed inside the covering element 7 approximately vertical to a surface of the covering element 7. Inside of the covering element 7 is filled with silicone gel. COPYRIGHT: (C)2005,JPO&NCIPI