I. Introduction 1 II. Desing of the sensor 7 2.1 Slip detection method 7 2.2 Structure of the sensor 10 2.2.1 Design of the sensor 10 2.2.2 Optimal gap size of the sensor 14 2.2.3 Optimal internal structure of the sensor 19 2.2.4 Optimal shape of the sensor 22 2.3 Materials and methods 25 2.4 Verification of slip detecting capability 27 III. Performance test of the tactile sensor 31 3.1 Cross-coupling error of the sensor 31 3.2 Random angle sensor performance 40 3.3 Sensitivity and measurement range of the sensor 44 3.4 Slip detection verification experiment 46 3.5 Resistance drift of the sensor 54 IV. Conclusion 56 References 59 요 약 문 63
