High-density Conformable Tactile Sensing Glove

• DOI: 10.7210/jrsj.30.711
• Publication Date: 2012-10-01T22:59:28Z
• Authors: Takashi Sagisaka; Yoshiyuki Ohmura; Akihiko Nagakubo; Yasuo Kuniyoshi; Kazuyuki Ozaki
• Keywords: Conformable matrix; Tactile sensor; Prosthetic hand; Robotic hand

To understand the principles of human hand dexterity, investigation dynamic contact control by is essential. This paper proposes a novel high-density tactile sensing glove lined with sensor sheets, which were flexible printed circuit boards embedded 1-[mm]-sized pressure sensitive elements at 1,052 points per hand. The sheets tree-shaped, especially designed to accommodate deformations skin in order minimize interference wearer's natural finger movements. design also permitted seamless coverage and allowed be distributed high density over entire inner surface In our experiment, we found that reduced joint movements one-third compared existing sensors. Moreover, verified makes qualitatively consistent measurements distributions for each everyday objects handled wearer despite large skin.